给出只需在最终运动控制中精确定时,在软件中实行以资源(数据)为约束的模块调度方式,并使得软件计算处理得到的数据能够实时地满足运动控制的需求。基于此思想,首先给出软件数控的结构模型,描述系统的运行框架、模块组成、功能划分,并且制定系统运行状态和实时模块的初始配置逻辑。然后基于对微机及Windows系统的实时调度性能分析,给出以任务服务为调度中心,运动控制卡通信信号定时触发的软件实时调度框架,结合数据资源约束建立任务服务模型,并给出实时模块运行的调度算法。最后根据该框架开发基于PC的软件数控试验系统,并且对插补、仿真和数控系统的实时性进行分析,证明该方法的适用性。
A module scheduling method is presented. It only needs precision timing in the final motion control and taking resources (data) as constraint in the software, and enables the data obtained from software computation and processing to attain the requirement of real time motion control. Based on this idea, firstly a structure model of software CNC is built to describe the operating framework of system, the module composition and the function division, and establish the initial configuration logic of the operating state of system and the real time module. Then, based on the analysis of real time scheduling performance of computer and Windows system, a software real time scheduling framework that takes task service as scheduling center and ensures timing trigger of communication signal of motion control card is given, and by combining that with the data resource constraint, a task service model is built, and the scheduling algorithm of real time module operation is given. Finally, on the basis of this framework, a software CNC testing system based on PC is developed, and the real time capability of interpolation, simulation and CNC system is analyzed, which proves the applicability of the method.