Motion Controller Utilizing a Plurality of Processors

• US 20110022822A1
• Filed: 07/21/2009
• Published: 01/27/2011
• Est. Priority Date: 07/21/2009
• Status: Active Grant

• Current Assignee: National Instruments Corporation (Emerson Electric Company)
• Original Assignee: National Instruments Corporation (Emerson Electric Company)
• Inventors: Chandhoke, Sundeep
• Granted Patent: US 8,250,343 B2
• Time in Patent Office: Days
• US Class Current: 712/36
• CPC Class Codes: G06F 9/5066 Algorithms for mapping a plurality of inter-dependent sub-tasks onto a plurality of physical CPUs mappping at compile time, see G06F8/451

Abstract

Controlling a motion system using a plurality of processors. First input data may be received which corresponds to a first portion of the motion system. Second input data may be received which corresponds to a second portion of the motion system. Execution of a first function of a plurality of sequential functions may be assigned to a first processor to determine output for the first portion based on the first input data. Execution of the first function may be assigned to a second processor to determine output for the second portion based on the second input data. The first processor executing the first function and the second processor executing the first function may be performed in parallel. The output for the first portion of the motion system may be provided to the first portion. The output for the second portion of the motion system may be provided to the second portion.

Claims

1. A memory medium storing program instructions for controlling a motion system using a plurality of processors, wherein the program instructions are executable to:

receive first input data corresponding to a first portion of the motion system;

receive second input data corresponding to a second portion of the motion system;

assign execution of a first function of a plurality of sequential functions to a first processor to determine output for the first portion based on the first input data;

assign execution of the first function of the plurality of sequential functions to a second processor to determine output for the second portion based on the second input data;

provide the output for the first portion of the motion system to the first portion; and

provide the output for the second portion of the motion system to the second portion;

wherein the assignment of execution of the first function to the first and second processors is performed to cause the first processor to execute the first function of the plurality of sequential functions and the second processor to execute the first function of the plurality of sequential functions in parallel.

2. The memory medium of claim 1, wherein the program instructions are further executable to:

assign execution of the remainder of the plurality of sequential functions to the first processor to determine output for the first portion;

assign execution of the remainder of the plurality of sequential functions to the second processor to determine output for the first portion;

wherein the first processor executing the plurality of sequential functions and the second processor executing the plurality of sequential functions is performed in parallel.

3. The memory medium of claim 1, wherein the first processor and the second processor comprise cores of a processor.

4. The memory medium of claim 1, wherein the first processor and the second processor comprise processing chips.

5. The memory medium of claim 1, wherein executing the first function of the plurality of sequential functions comprises utilizing a control axis for each of the first and second portions, wherein each control axis comprises state information and algorithms used to perform executing the first function for the first and second portions, respectively.

6. The memory medium of claim 1, wherein the plurality of sequential functions comprises generating a trajectory for the respective portion of the motion system.

7. The memory medium of claim 6, wherein the plurality of sequential functions comprises generating a setpoint based on the trajectory for the respective portion of the motion system.

8. The memory medium of claim 7, wherein the output for the respective portion is based on the setpoint.

9. The memory medium of claim 1, wherein the plurality of sequential functions comprises determining state information of the respective portion to determine if there is an error for the respective portion.

10. The memory medium of claim 1, wherein the first portion of the motion system comprises a first device, wherein the output for the first portion comprises a drive command for the first device.

11. A method for controlling a motion system using a plurality of processors, comprising:

receiving first input data corresponding to a first device of the motion system;

receiving second input data corresponding to a second device of the motion system;

a first processor executing a plurality of sequential functions to determine output for the first device based on the first input data;

a second processor executing the plurality of sequential functions to determine output for the second device based on the second input data;

providing the output for the first portion of the motion system to the first portion; and

providing the output for the second portion of the motion system to the second portion;

wherein the first processor executing the plurality of sequential functions and the second processor executing the plurality of sequential functions are performed in parallel.

12. The method of claim 11, wherein the plurality of processors comprise cores of a processor.

13. The method of claim 11, wherein the plurality of processors comprise a plurality of processing chips.

14. The method of claim 11, wherein executing the plurality of sequential functions comprises utilizing a control axis for each of the first and second devices, wherein each control axis comprises state information and algorithms used to perform said executing the plurality of sequential functions for the first and second devices, respectively.

15. The method of claim 11, wherein the plurality of sequential functions comprises generating a trajectory for the respective device of the motion system.

16. The method of claim 15, wherein the plurality of sequential functions comprises generating a setpoint based on the trajectory for the respective device of the motion system.

17. The method of claim 16, wherein the output for the respective device is based on the setpoint.

18. The method of claim 11, wherein the plurality of sequential functions comprises determining state information of the respective device to determine if there is an error for the respective device.

19. The method of claim 11, wherein the output for the first device comprises a drive command for the first device.

20. A system, comprising:

a plurality of processors;

a plurality of inputs coupled to a plurality of devices and the plurality of processors;

a plurality of outputs coupled to the plurality of devices and the plurality of processors;

wherein the system is configured to;

receive first input data corresponding to a first device of the plurality of devices via a first input of the plurality of inputs;

receive second input data corresponding to a second device of the plurality of devices via a second input of the plurality of inputs;

execute a plurality of sequential functions using a first processor of the plurality of processors to determine output for the first device based on the first input data;

execute the plurality of sequential functions using a second processor of the plurality of processors to determine output for the second device based on the second input data;

provide the output for the first device via a first output of the plurality of outputs; and

provide the output for the second device via a second output of the plurality of outputs;

wherein the first processor executing the plurality of sequential functions and the second processor executing the plurality of sequential functions are performed in parallel.