关键词: 多轴;超精密;同步运动控制;数据交互;分布式共享存储

Abstract: Multi-axis ultra-precise synchronous motion control system needs to adopt parallel multiprocessors architecture. A data interchange mechanism based on distributed shared memory to realize high-efficiency data sampling and transmission in this type of control system is proposed. Multi-bus motion control network involving user-defined internal bus is designed, which constructs globally unified addressing memory model based on distributed local memory. Hardware-implemented message passing service refreshes shared data to ensure data consistency, which actually minimizes memory access time. Pipelined execution of data interchange and real-time control optimizes the slot allocation in parallel computing cycle, which maximizes the efficiency of parallel-processors. Precise synchronization strategy in data interchange realizes synchronous sampling of laser measuring position datum. Experimental results show the performances of data interchange mechanism not affected by increasing number of processors can realize stable bandwidth and precise transmission latency. Sub-nanosecond scaled synchronous position sampling can be implemented, and synchronization error has stable distribution characteristics towards transmission distance. The validity of this research has been proved in actual application.

Key words: multi-axis;ultra-precise;synchronous motion control;data interchange;distributed shared memory