一种运动控制算法的高效实时仿真调试方法

An Efficient Real-time Simulation and Debugging Method for Motion Control Algorithm

以半导体生产设备为代表的现代高速精密机电设备中普遍采用主-从式计算机控制的模式,从机以嵌入方式包含在设备中而不便于其上所运行的运动控制算法实时状态的监测;运动控制算法本身复杂度的不断增加进一步提高了代码高效调试的难度,对最短时间内获得运行正确的运动控制代码提出了极大的挑战。提出了一种能够准确反映控制对象真实响应的运动控制算法实时仿真和调试方法。该方法将从机DSP上运行的运动控制算法完整不变地转移到主机上运行,并且对DSP代码的输入输出函数进行少量修改以利用数值积分方法模拟控制对象的响应,实现了从机DSP运动控制算法和主机程序在同一计算机处理器上以真实的实时状态运行并且可以象普通源代码一样进行方便有效的单步、断点等调试。该方法可以与各种数据可视化手段相结合,形成完整、直观、高效的,完全脱离从机和控制对象的运动控制算法虚拟实时仿真调试环境。给出了该方法在半导体生产设备上成功应用的例子。该方法适用于各种独立运行于嵌入式处理器的运动控制算法的仿真调试。

Host-slave computer control architecture is extensively used in modem high-speed precision electromechanical equipment represented by semiconductor equipment. In this architecture, the slave computer is contained in the equipment in an embedded manner thus it is difficult to monitor the real-timestatus of its motion control algorithm. In addition, the increasing complexity of the motion control algorithm itself further raises the difficulty for efficient debugging of the code. Both facts impose a significant challenge to obtain correct motion control code in the shortest period of time. A real-time simulation and debugging method for motion control algorithm that is capable of showing the real response of the control object is proposed. This method transfers the complete and unaltered control algorithm running on the slave computer DSP to the host computer and carries out minor modifications to input/output functions in the DSP code so as to simulate the response of the control object using numerical integration. The method has realized the execution of slave computer DSP motion control algorithm and host computer program on the same computer processor in true real-time status. And debugging schemes such as stepping and break point can be applied on both codes conveniently and efficiently like normal source code. The method can be combined with different data visualization means to form a complete, direct, and efficient virtual real-time simulation environment that is totally separated from the slave computer and the control object. An example for the method＇s successful application to semiconductor manufacturing equipment is provided. The method is applicable to the simulation and debugging of different motion control algorithm running independently on an embedded processor.