CN113595460B - XY galvanometer digital control system based on multiprocessor architecture - Google Patents

Abstract

The invention discloses an XY galvanometer digital control system based on a multiprocessor architecture, which is realized based on the multiprocessor architecture, has the advantages of strong interference resistance, simple realization and modification, easy maintenance and upgrading, and the like, enables the dual-axis control system of the XY galvanometer to be integrated on one board card, realizes the integration of the control system, has the advantages of high integration level, miniaturization and easy development, reduces the equipment cost, and provides a hardware basis for parallel scheduling of functional tasks on a plurality of processors; task decomposition is carried out according to the real-time function of the system, the parallel processing capability of the multiprocessor architecture is fully utilized, and the digital galvanometer control system realizes the synchronous control of the XY galvanometer with high speed and high precision while having the advantages of high integration level, integration, easy development and the like.

Description

A digital control system for XY galvanometer based on multi-processor architecture

Technical field

The invention belongs to the field of galvanometer control, and more specifically, relates to an XY galvanometer digital control system based on a multi-processor architecture.

Background technique

The galvanometer system, especially the XY plane galvanometer system, is an optical scanning mechanism that is widely used in laser processing, medical imaging and other fields. The XY galvanometer system has a swing motor and a reflective mirror on each of the X-axis and Y-axis. The motor rotates under the action of the driving voltage to drive the mirror to deflect. The system scans the specified position on the plane through the cooperation of two-axis mirrors. Considering the ubiquitous high-speed and high-precision positioning requirements in the application scenarios of the galvanometer system, the motion control system of the XY galvanometer must have high control accuracy, low response delay, and good dual-axis motion synchronization and coordination performance. .

Single-core controllers are widely used in the field of motion control, but the computing resources of a single processor are limited and often cannot meet the high-speed and high-precision control requirements of dual-axis. Therefore, in the existing XY galvanometer control system, two control boards are usually used to control the movement of the X-axis and Y-axis galvanometers respectively, and each control board is based on a single-core controller. However, since the software and hardware on the two boards are independent of each other, the phase difference between the reference clock and control timing of the two systems may gradually accumulate as the system runs, and it is also difficult to perform real-time synchronization coordination between the two axes, thus This causes the synchronization of dual-axis control to decrease, affecting the control accuracy of the system; in addition, multiple control systems will lead to problems such as bulky size, complicated wiring, and low reliability, which also makes it difficult for this solution to meet high-end applications such as fiber optic marking and laser radar. The proposed requirements include equipment integration, miniaturization, and strong anti-interference capabilities.

At present, in order to achieve the integration of dual-axis control, some galvanometer control systems are designed as full analog circuits, or high-performance FPGAs are selected as control chips to achieve high-real-time integrated control of dual-axis through hardware parallel processing. . However, analog circuit functions are solidified, have poor versatility, and are susceptible to interference from drift characteristics. At the same time, compared with the architecture of traditional single-core controllers, the hardware programming method of FPGA itself also makes the system have shortcomings such as high algorithm implementation complexity and difficulty in development.

Contents of the invention

In view of the above defects or improvement needs of the existing technology, the present invention provides an XY galvanometer digital control system based on a multi-processor architecture, thereby solving the problem that the existing XY galvanometer multi-axis control system is large in size, complicated in wiring, and reliable. Technical problems such as poor performance, low control speed and accuracy.

In order to achieve the above object, according to one aspect of the present invention, an XY galvanometer digital control system based on a multi-processor architecture is provided. The system includes: an X-axis galvanometer control module, a Y-axis galvanometer control module and a multi-processor Server collaborative scheduling module;

The X-axis galvanometer control module includes a first processor for generating an X-axis control signal To control the X-axis galvanometer motor;

The Y-axis galvanometer control module includes a second processor for generating Y-axis control signals To control the Y-axis galvanometer motor;

The multi-processor cooperative scheduling module includes a third processor for generating an X-axis synchronization compensation signal Synchronous compensation signal with Y axis/> To achieve synchronous control between the X-axis galvanometer control module and the Y-axis galvanometer control module.

Preferably, the multi-processor cooperative scheduling module also includes a timing management module, which is used to optimize the hardware sampling timing and software control timing of the system according to the timing of external communication and hardware sampling time, so as to realize hardware sampling and software control. Parallel operation, and the system’s real-time response to external communication instructions.

Preferably, the timing management module simultaneously triggers the first processor, the second processor and the third processor to run X-axis closed-loop control, Y-axis closed-loop control and dual-axis synchronous control respectively according to the optimized software control sequence;

The timing management module simultaneously triggers X-axis hardware sampling and Y-axis hardware sampling according to the optimized hardware sampling timing.

Preferably, the timing management module optimizes the hardware sampling timing and software control timing according to the following formula:

t ₁ =t _r +t ₀ ;

Among them, t _r is the optimization margin, t ₁ is the software control trigger time within a control cycle, t ₂ is the hardware sampling current trigger time within a control cycle, t ₃ is the hardware sampling position trigger time within a control cycle, T is the control period, t ₀ is the time when the system receives the external command within a control period, T _s2 is the time it takes for the system to complete the hardware sampling current, and T _s3 is the time it takes the system to complete the hardware sampling position.

Preferably, the multi-processor cooperative scheduling module also includes a synchronization control module for executing instructions according to the X-axis motion trajectory. X-axis galvanometer motor position P _X , Y-axis motion trajectory command/> and the position P _Y of the Y-axis galvanometer motor generates the X-axis synchronous compensation signal/> Synchronous compensation signal with Y axis/>

Preferably, the with/> P _X ,/> P _Y satisfies the following relationship:

Among them, K _sync is the synchronization compensation coefficient, and e _sync is the XY dual-axis synchronization error.

Preferably, the multi-processor cooperative scheduling module also includes a system shared clock, a multi-processor interaction module, an encoder interface, and an external communication module;

The system shared clock is used to configure a common clock reference for the control system;

The multi-processor interaction module is used to realize real-time interaction between the third processor and the first processor and the second processor respectively;

The encoder interface is used to obtain _the position _P

The external communication module is used to obtain the motion trajectory instructions of the X-axis and Y-axis from outside the system based on the external communication protocol. And the operating status information S _X and S _Y of the X-axis and Y-axis galvanometers are sent to the outside of the system.

Preferably, the control period T is consistent with the communication period specified by the external communication protocol.

Preferably, the multi-processor interactive module instructs the X-axis motion trajectory X-axis galvanometer motor position P _X and X-axis synchronous compensation signal/> Transmit to the first processor, Y-axis motion trajectory command/> Position P of _Y -axis galvanometer motor and Y-axis synchronous compensation signal/> Transmit to the second processor, and receive the operating status information S _X and S _Y of the X-axis and Y-axis galvanometers transmitted by the first processor and the second processor.

Generally speaking, compared with the prior art, the above technical solutions conceived by the present invention can achieve the following beneficial effects:

1. The XY galvanometer digital control system based on the multi-processor architecture provided by the present invention is implemented based on the multi-processor architecture. It has the advantages of strong anti-interference, simple implementation and modification, easy maintenance and upgrade, etc., making the XY galvanometer The dual-axis control system can be integrated on one board, realizing the integration of the control system. The control system has the advantages of high integration, miniaturization, and easy development, reduces equipment costs, and provides support for multiple processors. Parallel scheduling of functional tasks provides the hardware foundation; according to the real-time functional task decomposition of the system, the parallel processing capability of the multi-processor architecture is fully utilized, so that the digital galvanometer control system has the advantages of high integration, integration, and ease of development. Achieve high-speed, high-precision synchronous control of the XY galvanometer.

2. The XY galvanometer digital control system based on a multi-processor architecture provided by the present invention allocates functional tasks such as external communication, X-axis galvanometer control, and Y-axis galvanometer control to different processors to run in parallel, making full use of The software and hardware resources of the multi-processor architecture reduce the computing burden of a single processor.

3. The XY galvanometer digital control system based on the multi-processor architecture provided by the present invention optimizes the hardware sampling timing and software control timing of the system according to the timing of external communication and the time of hardware sampling to achieve hardware sampling and software control. Parallel operation; according to the optimized software control sequence, the first processor, the second processor and the third processor are simultaneously triggered to run X-axis closed-loop control, Y-axis closed-loop control and dual-axis synchronous control respectively, effectively reducing the need for external instructions. response delay; according to the optimized hardware sampling timing, X-axis hardware sampling and Y-axis hardware sampling are triggered simultaneously, effectively reducing the system delay between hardware adoption and the operation of the control algorithm. That is, by performing parallel scheduling management and control timing optimization on multiple processors for different control tasks, the response delay of the XY galvanometer system can be effectively reduced. At the same time, through optimization of the running timing, there is a minimum delay between instruction reception, status sampling, and closed-loop control, improving the system's response speed.

4. The XY galvanometer digital control system based on the multi-processor architecture provided by the present invention can effectively improve the motion synchronization and coordination performance of the XY dual axes through the real-time dual-axis synchronization control algorithm, and improve the control accuracy of the system.

Description of drawings

Figure 1 is a schematic structural diagram of an XY galvanometer digital control system based on a multi-processor architecture provided by the present invention;

Figure 2 is a schematic diagram of the timing optimization process of the XY galvanometer digital control system based on a multi-processor architecture provided by the present invention;

Figure 3 is a schematic diagram of the optimized running sequence of the XY galvanometer digital control system based on the multi-processor architecture provided by the present invention.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

As shown in Figure 1, in the embodiment of the present invention, the control system includes a control part with a multi-processor architecture as the core and a driving part with the galvanometer driving module as the core. Among them, the control part includes three modules: X-axis galvanometer control module, Y-axis galvanometer control module, and multi-processor cooperative scheduling module.

The entire control part is integrated on a board card, preferably including a dual-core microcontroller chip and a field programmable gate array (FPGA) chip. The dual-core microcontroller chip includes two first processors and a second processor that have the same computing power and can run software programs independently, and the FPGA chip is a third processor.

The X-axis galvanometer control module includes a first processor for generating an X-axis control signal To control the X-axis galvanometer motor;

The Y-axis galvanometer control module includes a second processor for generating Y-axis control signals To control the Y-axis galvanometer motor;

The multi-processor cooperative scheduling module includes a third processor for generating an X-axis synchronization compensation signal Synchronous compensation signal with Y axis/> To achieve synchronous control between the X-axis galvanometer control module and the Y-axis galvanometer control module, thereby improving the synchronous control performance between the X-axis galvanometer and the Y-axis galvanometer.

Specifically, the X-axis galvanometer control module takes the first processor as the core. The first processor obtains the X-axis motion trajectory instructions from the third processor Position P _X of X-axis galvanometer motor, X-axis synchronous compensation signal/> _{The X} -axis galvanometer motor current I And based on the X-axis control signal after synchronization compensation/> Calculate the effective duty cycle time _O Motion control of axis galvanometer motors.

The Y-axis galvanometer control module takes the second processor as its core. The second processor obtains Y-axis motion trajectory instructions from the third processor Y-axis galvanometer motor position P _Y , Y-axis synchronous compensation signal/> Obtain the current I _Y of the Y-axis galvanometer motor through AD module hardware sampling, run the Y-axis galvanometer closed-loop control algorithm within the real-time control interrupt, and generate the Y-axis control signal/> And based on the Y-axis control signal after synchronization compensation/> Calculate the effective duty cycle time O _Y required for PWM control, control the PWM module to output the PWM switching signal, and drive the bridge reversible chopper circuit to convert the DC bus voltage into the input voltage that acts on the Y-axis galvanometer motor to achieve Y-axis control. Motion control of axis galvanometer motors.

In the embodiment of the present invention, the first processor and the second processor perform non-real-time control tasks outside of the real-time control interrupt, and can perform customized functions such as system status self-check, which facilitates system expansion and upgrade.

The multi-processor collaborative scheduling module takes the third processor as the core; preferably, the multi-processor collaborative scheduling module also includes a synchronization control module for controlling the X-axis motion trajectory instructions. X-axis galvanometer motor position P _X , Y-axis motion trajectory command/> and the position P _Y of the Y-axis galvanometer motor generates the X-axis synchronous compensation signal/> and Y-axis synchronization compensation signal To improve the motion synchronization and coordination performance of the XY dual axes.

Specifically, the synchronization control module calculates the XY-axis synchronization error e _sync according to the following formula, and calculates the synchronization compensation signal according to the synchronization error e _sync That is to say/> with/> P _X ,/> P _Y satisfies the following relationship:

Among them, K _sync is the synchronization compensation coefficient, and e _sync is the XY dual-axis synchronization error.

The synchronization control module is based on P _X ,/> P _Y runs the XY dual-axis synchronization control algorithm to generate a synchronization compensation signal/> Respectively used to compensate single-axis control signals/> To improve the motion synchronization and coordination performance of the XY dual axes.

Preferably, the multi-processor cooperative scheduling module also includes a timing management module, which is used to optimize the hardware sampling timing and software control timing of the system according to the timing of external communication and hardware sampling time, so as to realize hardware sampling and software control. Parallel operation, and the system's real-time response to external communication instructions, thereby reducing the system's response delay to external communication instructions.

Specifically, the timing management module is responsible for scheduling and optimizing the running timing of all software and hardware modules included in the control system, and is responsible for scheduling and optimizing the running timing of system hardware and multiple processors.

Preferably, the timing management module simultaneously triggers the first processor, the second processor and the third processor to run X-axis closed-loop control, Y-axis closed-loop control and dual-axis synchronous control respectively according to the optimized software control sequence;

The timing management module simultaneously triggers X-axis hardware sampling and Y-axis hardware sampling according to the optimized hardware sampling timing.

Specifically, the timing management module optimizes and adjusts the system's hardware sampling timing and software control timing according to the timing of external communication and hardware sampling time; the timing management module simultaneously adjusts the system's hardware sampling timing and software control timing based on the optimized software control timing. The following events are triggered: the first processor runs the X-axis closed-loop control algorithm, the second processor runs the Y-axis closed-loop control algorithm, and the third processor runs the synchronous dual-axis synchronization control algorithm to cause the X-axis closed loop Control, Y-axis closed-loop control, and dual-axis synchronous control run in parallel on the first processor, the second processor, and the third processor respectively, and have the smallest response delay to external instructions; the timing management module is based on The optimized hardware sampling timing triggers the X-axis hardware sampling and Y-axis hardware sampling, realizes the parallel operation of hardware sampling and software control, and makes the updates of P _X , P _Y , I _X , and I _Y consistent with There is minimal system delay between runs of the control algorithm.

Preferably, the timing management module optimizes the hardware sampling timing and software control timing according to the following formula:

t ₁ =t _r +t ₀ ; (2)

Among them, _tr is the optimization margin. Preferably, the value of _tr can be the upper limit of the fluctuation values of T _s2 and T _s3 . t ₁ is the software control trigger time within a control cycle, t ₂ is the hardware sampling current trigger time within a control cycle, t ₃ is the hardware sampling position trigger time within a control cycle, T is the control period, and t ₀ is a At the moment when the system receives the external command within the control cycle, T _s2 is the time it takes for the system to complete the hardware sampling current once, and T _s3 is the time it takes the system to complete the hardware sampling position once.

Preferably, the control period T is configured to be consistent with the communication period specified by the external communication protocol.

Preferably, the multi-processor cooperative scheduling module also includes a system shared clock, an encoder interface, a multi-processor interaction module, and an external communication module;

The system shared clock is used to configure a common clock reference for the control system;

The encoder interface is used to obtain _the position _P

The multi-processor interaction module is used to realize real-time interaction between the third processor and the first processor and the second processor respectively;

The external communication module is used to obtain the motion trajectory instructions of the X-axis and Y-axis from outside the system based on the external communication protocol. And the operating status information S _X and S _Y of the X-axis and Y-axis galvanometers are sent to the outside of the system.

Specifically, the system shared clock is configured as a common clock reference for all software and hardware modules included in the control system, so that the running timings of multiple processors and hardware modules can be uniformly aligned.

The encoder interface obtains _the position _P

The multi-processor interaction module is responsible for managing real-time interaction between the plurality of processors and transferring the P _X ,/> to the first processor and the/> from the third processor _PY , Transfer to the second processor, and transfer the S _X and S _Y from the first processor and the second processor to the third processor respectively.

Preferably, in the embodiment of the present invention, the timing management module and the multi-processor interaction module are implemented using FPGA hardware programming, and are implemented with the first processor and the second processor through an external bus connected between the microcontroller and the FPGA. Real-time interaction with the processor.

The external communication module obtains the motion trajectory instructions of the X-axis and Y-axis from outside the system based on the external communication protocol. And the operating status information S _X and S _Y of the XY galvanometer specified by the external communication protocol is sent to the outside of the system.

Preferably, in the embodiment of the present invention, the external communication protocol adopts the XY2-100 communication protocol that is widely used in the field of galvanometer control.

As shown in Figures 2-3, in the embodiment of the present invention, the control part divides different software and hardware control tasks into multiple processors and system hardware to run in parallel, and reasonably optimizes and schedules the system running time sequence. Specifically, it includes the following steps:

S0. After the system starts, it enters the initialization state and does not perform control tasks; after completing the initialization, the system performs timing synchronization processing on the X-axis galvanometer control module, Y-axis galvanometer control module, and multi-processor cooperative scheduling module, and enters the control state;

S1. Obtain motion trajectory instructions from the outside according to the system At time t ₀ , optimize the triggering time t ₁ of the software real-time control interrupt; according to the time T _s2 used by the hardware to sample the galvanometer motor currents I _X and I _Y and the time used by the hardware to sample the galvanometer motor positions P _X and P _Y T _s3 , optimize the trigger time t ₂ and t ₃ of hardware sampling;

S2. According to the optimized triggering time t ₂ and t ₃ , trigger the hardware sampling of the X-axis galvanometer and Y-axis galvanometer synchronously; according to the optimized trigger time t ₁ , trigger the X-axis galvanometer and Y-axis galvanometer synchronously. Software single-axis real-time control and dual-axis synchronous control of the mirror;

Specifically, step S0 includes the following sub-steps:

S00. After the system starts, the system shared clock provides clock signals for all software and hardware modules in the control part, and the first processor, the second processor, and the third processor enter independent initialization processes;

S01. After the first processor completes the initialization configuration and confirms that the AD module, PWM module and other peripheral circuits of the X-axis galvanometer control module are started normally, it sends an initialization completion signal to the third processor and enters the waiting for trigger state; the second processor completes After initializing the configuration and confirming that the AD module, PWM module and other peripheral circuits of the Y-axis galvanometer control module start normally, send an initialization completion signal to the third processor and enter the waiting trigger state; after the third processor completes the initialization configuration, it enters the waiting state ;

S02. After receiving the initialization completion signal sent by the first processor and the second processor, the timing management module in the waiting state performs the following parameter settings: Set both the system control period and the PWM period of the PWM module to T, and set the trigger time Set t ₁ to half of a control period T, and set the triggering moments t ₂ and t ₃ to 0;

S03. After the timing management module completes the above parameter settings, it simultaneously performs the following timing synchronization processing: sends an enable signal to the PWM module, starts the hardware counter and enables the corresponding trigger signal according to the trigger time t ₁ , t ₂ , t ₃ , and Start the external communication module; the system makes the X-axis galvanometer control module, Y-axis galvanometer control module, and multi-processor cooperative scheduling module enter the control state synchronously through the above-mentioned timing synchronization processing;

In the embodiment of the present invention, according to the XY2-100 communication protocol used by the external communication module, both the system control cycle and the PWM cycle of the PWM module are set to receive external instructions. The cycle, that is, the system control cycle and the PWM cycle are both 10us. At the beginning of each control cycle, the PWM module updates the effective duty cycle calculated in the previous control cycle and generates the PWM switching signal of the current control cycle;

Specifically, step S1 includes the following sub-steps:

S10. In the first control cycle of system operation, the timing management module records the time t ₀ when the third processor completes receiving the external command, the time T s2 when the system completes the current sampling of the galvanometer motor, and the time T _s2 when the system completes the position sampling of the galvanometer motor. T _s3 ;

S11. Starting from the second control cycle, optimize the triggering times t ₁ , t ₂ , and t ₃ according to formulas (2) to (4) to realize that the system accepts external instructions. After a minimum delay time, the control operation of the galvanometer motor can be performed based on the latest sampled positions _PX , _PY and currents _IX , _IY .

As shown in Figure 2, in the embodiment of the present invention, the situation of t ₀ <T _s2 means that the time elapsed from the beginning to the third processor completing the reception of external instructions in the current control cycle is not enough to complete the measurement of the galvanometer motor current. Sampling; the situation of t ₀ <T _s3 means that the time elapsed from the beginning of the current control cycle to the third processor completing the reception of external instructions is not enough to complete the sampling of the galvanometer motor position. Therefore, the timing management module will trigger in advance the hardware sampling of the current and position used in the closed-loop control algorithm of the current control period at t ₂ and t ₃ of the previous control period.

Through the above formula, the system can perform external instructions on the third processor During the receiving process, the ADC module sampling current I _X , I _Y and the encoder interface sampling position P _X , P _Y are triggered in advance. While the third processor completes receiving external instructions, the hardware also completes sampling of current and position. At the same time, the system triggers real-time control interrupts in the first processor and the second processor and synchronous control calculations in the third processor, so that there is minimal delay between instruction reception, feedback sampling and closed-loop control.

Specifically, step S2 includes the following sub-steps:

S20. Within one control cycle T, the third processor completes the motion trajectory instruction At the receiving time t ₀ , the multi-processor interaction module transfers the /> P _X ,/> _PY is transmitted to the first processor and the second processor for closed _- loop control. At the same time, the system status information _S Communication cycles are sent outside the system. Preferably, the above data transmission process is implemented through the hardware interface of the FPGA and the DMA module built into the microcontroller, without occupying the computing resources of each processor;

S21. Within a control period T, at the trigger time t ₁ , the first processor and the second processor are simultaneously triggered to terminate the non-real-time task and enter the real-time control interrupt. At this point, the multiprocessor interaction module has P _X ,/> P _Y is transmitted to the first processor and the second processor. The X-axis galvanometer closed-loop control algorithm in the first processor and the Y-axis galvanometer closed-loop control algorithm in the second processor are processed in parallel in the two processors. Execute and generate the X-axis galvanometer voltage given value/> Y-axis galvanometer voltage given value/>

S22. Within a control period T, at the trigger time t ₁ , trigger the third processor to start executing synchronous control calculations. The principle of the synchronous control algorithm is to calculate the synchronization error e _sync and voltage compensation value of the system through formula (1) based on the external command and motor position of the current control cycle. In this way, the motion of the two axes is synchronously compensated to improve the dual-axis synchronization coordination performance of the system.

S23. Within a control period T, when the third processor completes the synchronous control calculation, the multi-processor interaction module will are transmitted from the third processor to the first processor and the second processor respectively, for/> Make compensation. Preferably, the above data transmission process is implemented through the hardware interface of the FPGA and the DMA module built into the microcontroller, without occupying the computing resources of each processor;

S24. Within a control period T, after the first processor and the second processor complete the galvanometer closed-loop control algorithm, they will synchronize the compensated voltage instructions. The _effective duty cycle times _O The bridge reversible chopper circuit converts the DC bus voltage into the input voltage of the X-axis and Y-axis galvanometer motors. After that, the first processor and the second processor exit the real-time control interrupt and resume the interrupted non-real-time task until the end of this control cycle and the system enters the next control cycle.

In the embodiment of the present invention, the XY galvanometer closed-loop control adopts the position-speed-current three-closed-loop PID algorithm, and uses motion trajectory instructions to Calculate the speed command from the position deviation between positions P _X and P _Y /> The galvanometer motor speed _{n X and} n _{Y are} calculated through differential processing of the positions P Calculate _{the current} command/> By current command/> and the current deviation between the currents I _X and I _Y to calculate the given voltage value of the galvanometer motor/> The system uses the position-speed-current three-closed-loop PID algorithm to enable the XY galvanometer motor to respond quickly and stably to external commands/>

In the embodiment of the present invention, the first processor and the second processor are two cores in a dual-core microcontroller, and the third processor is an FPGA. However, for the XY galvanometer digital control system based on a multi-processor architecture provided by the present invention, the selection of the three processors can be between a central processing unit (CPU), a digital signal processor (DSP), and a microcontroller. Any matching and combination can be done in unit (MCU), field programmable gate array (FPGA) or other general-purpose processor. At the same time, as shown in the embodiments of the present invention, when the above-mentioned types of processors have multiple cores, the first processor, the second processor, and the third processor can be selected as one core of the multi-core processor. . At the same time, the serial numbers "first", "second" and "third" of the three processors are only used to distinguish one processor from another processor, and do not mean that there is actual existence between the three processors. Order.

In the embodiment of the present invention, the system implements communication with the outside based on the XY2-100 protocol commonly used in the field of galvanometer control. However, for the XY galvanometer digital control system based on a multi-processor architecture provided by the present invention, other communication protocols It can also be used for communication between the system and the outside world.

It is easy for those skilled in the art to understand that the above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention can be All should be included in the protection scope of the present invention.

Claims (7)

1. An XY galvanometer digital control system based on a multi-processor architecture, characterized in that the system includes: an X-axis galvanometer control module, a Y-axis galvanometer control module and a multi-processor collaborative scheduling module; The X-axis galvanometer control module includes a first processor for generating an X-axis control signal To control the X-axis galvanometer motor; The Y-axis galvanometer control module includes a second processor for generating Y-axis control signals To control the Y-axis galvanometer motor; The multi-processor cooperative scheduling module includes a third processor for generating an X-axis synchronization compensation signal Synchronous compensation signal with Y axis/> To achieve synchronous control between the X-axis galvanometer control module and the Y-axis galvanometer control module; The multi-processor cooperative scheduling module also includes a timing management module, which is used to optimize the hardware sampling timing and software control timing of the system according to the timing of external communication and the time of hardware sampling, so as to realize the parallel operation of hardware sampling and software control. , and the system’s real-time response to external communication instructions; The timing management module optimizes the hardware sampling timing and software control timing according to the following formula: t ₁ =t _r +t ₀ ; Among them, t _r is the optimization margin, t ₁ is the software control trigger time within a control cycle, t ₂ is the hardware sampling current trigger time within a control cycle, t ₃ is the hardware sampling position trigger time within a control cycle, T is the control period, t ₀ is the time when the system receives the external command within a control period, T _s2 is the time it takes for the system to complete the hardware sampling current, and T _s3 is the time it takes the system to complete the hardware sampling position. 2. The XY galvanometer digital control system based on multi-processor architecture as claimed in claim 1, wherein the timing management module simultaneously triggers the first processor and the second processor according to the optimized software control timing. and the third processor respectively run X-axis closed-loop control, Y-axis closed-loop control and dual-axis synchronous control; The timing management module simultaneously triggers X-axis hardware sampling and Y-axis hardware sampling according to the optimized hardware sampling timing. 3. The XY galvanometer digital control system based on multi-processor architecture according to any one of claims 1-2, characterized in that the multi-processor collaborative scheduling module also includes a synchronization control module for controlling the Motion trajectory command X-axis galvanometer motor position P _X , Y-axis motion trajectory command/> and the position P _Y of the Y-axis galvanometer motor generates the X-axis synchronous compensation signal Synchronous compensation signal with Y axis/> 4. The XY galvanometer digital control system based on multi-processor architecture as claimed in claim 3, characterized in that: with/> P _X ,/> P _Y satisfies the following relationship: Among them, K _sync is the synchronization compensation coefficient, and e _sync is the XY dual-axis synchronization error. 5. The XY galvanometer digital control system based on multi-processor architecture as claimed in claim 3, characterized in that the multi-processor cooperative scheduling module also includes a system shared clock, a multi-processor interaction module, an encoder interface, External communication module; The system shared clock is used to configure a common clock reference for the control system; The multi-processor interaction module is used to realize real-time interaction between the third processor and the first processor and the second processor respectively; The encoder interface is used to obtain _the position _P The external communication module is used to obtain the motion trajectory instructions of the X-axis and Y-axis from outside the system based on the external communication protocol. And the operating status information S _X and S _Y of the X-axis and Y-axis galvanometers are sent to the outside of the system. 6. The XY galvanometer digital control system based on a multi-processor architecture as claimed in claim 5, wherein the control period T is consistent with the communication period specified by the external communication protocol. 7. The XY galvanometer digital control system based on a multi-processor architecture as claimed in claim 5, wherein the multi-processor interactive module controls the X-axis motion trajectory X-axis galvanometer motor position P _X and X-axis synchronous compensation signal/> Transmit to the first processor, Y-axis motion trajectory command/> Position P of _Y -axis galvanometer motor and Y-axis synchronous compensation signal/> Transmit to the second processor, and receive the operating status information S _X and S _Y of the X-axis and Y-axis galvanometers transmitted by the first processor and the second processor.