JPH08166803A - Control software generator - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control software generation device such as a robot control device for performing control calculation by parallel calculation while exchanging data through a high speed shared memory. In the drawings, the same reference numerals indicate the same or corresponding parts.

[0002]

2. Description of the Related Art For control devices such as robots that need to perform complex motions at high speed, many control calculation methods have been proposed due to the results of modern control theory, but calculation is performed in real time. However, the amount of calculation is large, which is a practical problem. As a method for solving this problem, it has been attempted to introduce a parallel operation method for simultaneously performing a plurality of operations.

There are two methods for carrying out parallel computation: mounting a dedicated computing unit for parallel computing, or mounting a plurality of general-purpose computing units and a data transfer device. Due to physical constraints such as usage environment and price issues, when installing multiple general-purpose arithmetic units and data transfer devices,
It is difficult to automatically and efficiently divide the control arithmetic expression into the software of each arithmetic unit, and either the person performs the division work or the operation efficiency is automatically ignored and the division is automatically performed.

[0004]

There are the following two reasons why it is difficult to automatically and efficiently divide a control arithmetic expression into a plurality of software for a control device equipped with a general-purpose arithmetic unit and a data transfer device. Is one. In order to perform optimal division based on the time required for each operation in the control arithmetic expression and the procedure in which the operation should be performed, an evaluation is made regarding the combination of operations, but the number of combinations of operations is enormous. It is difficult to automate as a real problem.

In an actual control device, the time used for data transfer between arithmetic units is longer than the time required for each calculation, and the evaluation at the time of division is a combination of calculation and data transfer. It is almost impossible to do so automatically, since it will be more than. Regarding the data transfer time of the above problem, a high-speed data transfer device was proposed in Japanese Patent Application Laid-Open No. 5-313717, which is a prior application of the present applicant, and it is possible to make it less than the time required for calculation. However, the problem of still remains.

SUMMARY OF THE INVENTION It is therefore an object of the present invention to solve the problem of (1) and to provide a control software generation device having a function of automatically performing effective division of a control arithmetic expression for parallel arithmetic.

[0007]

In order to solve the above-mentioned problems, the control software generation apparatus according to claim 1 is a means (control calculation input) for inputting the whole control calculation formula (11 etc.) to be subjected to parallel calculation. Device 1 and the like) and the input control arithmetic expression as a whole are expressed as unary or binary arithmetic expressions (12 or the like).
And a means for decomposing into (1) the arithmetic expression decomposing device and the decomposed arithmetic expression into groups according to the degree of dependence on other arithmetic expressions of this arithmetic expression (and rearranged into groups). (Formula 13 etc.) Means (Formula Arrangement Device 3)
Etc.) and a means (arithmetic expression distribution device 4 etc.) for distributing the grouped arithmetic expressions to a plurality of arithmetic units (# 1, # 2 etc. as the arithmetic processor 05) which should execute arithmetic operations at the same time. , The software executed by the respective arithmetic units (execution software 1)
7) or the like) (operational expression / software conversion device 6 or the like).

According to a second aspect of the control software generation apparatus of the present invention, in the control software generation apparatus of the first aspect, the means for distributing the grouped arithmetic expressions to a plurality of arithmetic units is With the time required for the calculation as the weight, the total sum of the weights of the respective arithmetic units becomes substantially equal to each other (file # 1, the intermediate file 14).
# 2 and so on).

A control software generation apparatus according to a third aspect of the present invention is the control software generation apparatus according to the first or second aspect, in which a plurality of arithmetic expressions distributed to the plurality of arithmetic units are set as one. The process of synthesizing into an arithmetic expression,
It is assumed that a means (arithmetic expression synthesizing device 5 etc.) for executing the distributed arithmetic expression as much as possible is provided.

[0010]

Operation: The control operation expression is not divided in an optimum manner, but the operation procedure is emphasized in order. That is, the control arithmetic expression is decomposed into a unary arithmetic expression (function etc.) or a binomial arithmetic expression which is the minimum unit of the arithmetic expression, and the decomposed arithmetic expression is divided into groups according to the degree of dependence on other arithmetic expressions, and then By converting to software for each arithmetic unit, it is possible to automatically generate divided arithmetic software for efficient calculation.

[0011]

Embodiments of the present invention will be described below with reference to FIGS. FIG. 2 shows the relationship among the user, the control software generation device, and the control device in the present invention. User 01
In order to obtain the control calculation software (execution software) 17 to be executed in the control device 04 having a plurality of calculation processors 05 operating in parallel, the control calculation input device 1 is connected to the computer 02 having the control software generation device 03 built therein. The control arithmetic expression 11 is input through the control software generating device 03 to operate. The control software generation device 03 executes the execution software 17 for each arithmetic processor 05 in the control device 04 through the process described later with reference to FIG.
Generate The execution software 17 is output from the computer 02 via the arithmetic software output device 7. FIG.
FIG. 6 is an explanatory diagram of a generation process of the execution software 17 in the present invention. The entire FIG. 1 corresponds to the function of the computer 02 of FIG. 2, and the devices 2 to 6 in FIG. 1 correspond to the function of the control software generation device 03 of FIG.

For the sake of simplicity, it is assumed in FIG. 1 that there are two arithmetic processors 05 built in the control device 04, # 1 and # 2. However, the same process is performed when the number of arithmetic processors is three or more. Is also effective. Next, the process of generating the execution software 17 will be described in order of, centering on FIG.

From the control calculation input device 1 to the control software generation device 03 in the computer 02, the control calculation formula 1
1 is input. The input control arithmetic expression 11 is decomposed by the arithmetic expression decomposition device 2 up to the minimum unit arithmetic expression 12 by a known method. Here, the minimum unit arithmetic expression is, for example, a unary arithmetic expression for deriving one variable (function) ψ from one variable θ such as ψ = sin θ, and α ₀ = ax, a ₀ = a1 + a2 or z = ^xy Two variables (in this example, a and x, a
1 and a2, or x and y), one variable is α ₀ , a
_{And a} binary arithmetic expression for deriving ₀ or z.

The arithmetic expression 12 thus decomposed into the minimum unit is rearranged by the arithmetic expression arranging device 3 according to the dependency of the arithmetic expression, and is divided into groups formed by the arithmetic expressions having the same dependency. The rearranged and grouped (arranged) arithmetic expression is set to 13. Here, the dependency degree of the arithmetic expression represents the amount of the arithmetic expression that needs to be performed in advance when performing the operation of interest. That is, the arithmetic expression of the group # 1 in the organized arithmetic expression 13 is a binomial arithmetic operation that can be performed by giving the values of the variables a to g, x, y, and z, regardless of other arithmetic expressions. It is an expression, and therefore the dependency of the arithmetic expression of this group # 1 is 0. Similarly, the arithmetic expression of the group # 2 is a binomial arithmetic expression that is possible by using the operation result of the group # 1 (that is, depending on this operation result). Therefore, the dependency of the arithmetic expression of this group # 2 is 1.

Similarly, the arithmetic expression of the group # 3 is the group #
This is a binomial arithmetic expression that is possible depending on the arithmetic results up to 2, and the dependency of the arithmetic expression of this group # 3 is 2. Similarly, the arithmetic expressions for groups # 4 and # 5 are also group #
It depends on the calculation results of # 3 and # 4. So group #
The degrees of dependence of the arithmetic expressions 4 and # 5 are 3 and 4, respectively. FIG. 3 shows this rearrangement and grouping procedure.
08 indicates the step. That is, in FIG. 3, first, the group number is set to 1 (101), and the entire arithmetic expression 12 decomposed by the arithmetic expression decomposition device 2 is set to the group A, and attention is paid to the first arithmetic expression of this group A (10).
2). Next, it is determined whether or not this focused arithmetic expression does not use a value calculated by another arithmetic expression in this group A (that is, whether it depends on another arithmetic expression in group A) (103 ), If it is not used (branch Y), this attention arithmetic expression is moved from the group A to the group of group number 1 (104). Then, paying attention to the next arithmetic expression of the group A (105), until all the arithmetic expressions of the group A are judged as above (106, branch N), step 1
When the operation expressions 03 to 105 are repeated and there is no operation expression to be discriminated (106, branch Y), and the operation expression of the group number 1 with the dependency degree of 0 is separated from the group A, the group number is set to 2 (107). .

Next, if there is an arithmetic expression in group A (10
8, branch N), for all remaining group A formulas,
The operations of steps 102 to 106 are repeated to separate the arithmetic expression of the group number 2 having the dependency degree 1 from the group A. In this way, the group numbers are sequentially incremented by 1 (107), and when there remains no arithmetic expression remaining in the group A (108, branch Y), the processing of FIG. 3 is terminated.

Next, the arithmetic expression 13 divided into groups
Are distributed to the files # 1 and # 2 of the intermediate file 14 by weight by the arithmetic expression distribution device 4. Here, the file # 1 of the intermediate file 14 corresponds to the processor # 1 as one of the arithmetic processors 05, and the file # 2 is the processor # 2 as another one of the arithmetic processors 05.
Corresponding to. The purpose of performing the weighted distribution here is to equalize the calculation time in each of the calculation processors # 1 and # 2.

FIG. 4 shows the procedure of this weighted distribution.
01 to 210 indicate the steps. That is, first, the group number is set to 1 (201), the total sum of weights for the processors # 1 and # 2 is set to 0 (202), and the calculation time of each calculation formula of the group of the group number (group number 1 in this case) is set. (203). Next, one of the arithmetic expressions with the highest weight is selected from the group (204), this arithmetic expression is moved to the file corresponding to the processor with the smallest total weight (205), and the weight of this moved arithmetic expression is changed. Is added to the sum of weights for the processor of the destination file (206). Then, if there is an unmoved arithmetic expression in the group (207, branch N), the operations of steps 204 to 206 are repeated.

In this way, if there are no arithmetic expressions in the group (207, branch Y), the sum of weights of the arithmetic expressions of group number 1 to files # 1 and # 2 (that is, the total arithmetic time) is almost equal. Then, the group number is incremented by 1 (in this case, the group number is set to 2) (209), and as long as there is a group designated by this group number (210, branch N), step 202- 20
The operation of 9 is repeated. When the group with the designated group number disappears in this way (210, branch Y), the processing of FIG. 4 ends.

That is, in FIG. 4, for each group number of the arithmetic expression 13, the arithmetic expressions are distributed so that the total sum of the arithmetic times of the arithmetic expressions distributed to the files # 1 and # 2 becomes substantially equal. Next, the arithmetic expression synthesizing device 5 synthesizes the arithmetic expressions for each of the files # 1 and # 2 as the respective intermediate files 14, updates the respective intermediate files # 1 and # 2, and obtains the synthesized arithmetic expression 15. The files # 1A and # 2A corresponding to the processors # 1 and # 2 are created.

FIG. 5 is a flow chart showing the procedure of the arithmetic expression synthesizing process of the arithmetic expression synthesizing device 5, and 301 to 312 indicate the steps thereof. In FIG. 5, for each file (in this case, files 1 and # 2) of the intermediate file 14 by number (3
01, 311, 312), paying attention to each arithmetic expression in turn (3
02, 309, 310), and further pay attention to the variables on the right side of the focused arithmetic expression in order (303, 307, 308), and the focused variable is calculated by another arithmetic expression in the file of that number (304, branch). Y) and if the variable is used only in this equation in all numbered files (305, branch Y), this variable is calculated instead of the variable of interest ( That is, the arithmetic expression (having this variable on the left side) is moved with parentheses and used (3
06).

If the arithmetic expression noted in step 303 is, for example, y = f (x), the first variable used in the right side of this arithmetic expression is the first variable of f (x). . Therefore, if the notable arithmetic expression is α ₀ = ax, then a
However, if the arithmetic expression of interest is α ₈ = α ₆ + α ₇ , then α
₆ is the first variable respectively. The purpose of synthesizing the arithmetic expressions is to reduce the mathematical expressions as much as possible and use the optimization function of the arithmetic software output device 7.

An arithmetic processor in which the arithmetic expression / software conversion device 6 can interpret the arithmetic expression stored in each of the updated intermediate files # 1A and # 2A as the combined arithmetic expression 15 by the arithmetic software output device 7. # 1, # 2
Each source file is converted by a known method. The arithmetic software output device 7 converts the above-mentioned source file into execution software 17 for each of the arithmetic processors # 1 and # 2 and outputs it to the control device 04.

The control software generator 03 is
The above operations 1 to 3 are performed.

[0025]

According to the present invention, control arithmetic expressions are decomposed into minimum units, rearranged in the order in which they should be executed, and output to each processor in the control unit. The software can be automatically generated.

Further, by automating the disassembly, human error caused by the disassembly can be reduced. Further, since the arithmetic expressions to be distributed to the respective processors are composed in advance so as to reduce the mathematical expressions as much as possible, it is possible to reduce extra memory writing at the time of executing the arithmetic operations. Further, since the arithmetic expressions are distributed to the respective processors so that the arithmetic times in the respective processors are substantially equal to each other, more efficient arithmetic execution can be performed.

[Brief description of drawings]

FIG. 1 is an explanatory diagram of a generation process of control software as an embodiment of the present invention.

[Fig. 2] Similarly, system configuration diagram

FIG. 3 is a flowchart showing a procedure of an arithmetic expression rearrangement process executed by the arithmetic expression arranging apparatus in FIG.

FIG. 4 is a flowchart showing a procedure of weighted distribution processing of arithmetic expressions executed by the arithmetic expression distribution device in FIG.

5 is a flowchart showing a procedure of an arithmetic expression synthesizing process executed by the arithmetic expression synthesizing apparatus in FIG.

[Explanation of symbols]

01 User 02 Computer 03 Control Software Generator 04 Control Device 05 Arithmetic Processor 1 Control Arithmetic Input Device 2 Arithmetic Formula Decomposing Device 3 Arithmetic Formula Arranging Device 4 Arithmetic Formula Distributor 5 Arithmetic Formula Synthesizing Device 6 Arithmetic Formula / Software Converter 7 Arithmetic Software output device 11 Control arithmetic expression 12 Decomposed arithmetic expression 13 Arranged and grouped (arranged) arithmetic expression 14 Intermediate file 15 Synthesized arithmetic expression 17 Execution software

Claims (3)

[Claims] 1. A means for inputting an entire control arithmetic expression to be subjected to parallel arithmetic operation, a means for decomposing the input control arithmetic expression as a whole into a mononomial or binary arithmetic expression, and the decomposed arithmetic expression. A means for grouping each of the arithmetic expressions depending on the degree of dependence on other arithmetic expressions, a means for distributing the grouped arithmetic expressions to a plurality of arithmetic units that are to execute arithmetic operations at the same time, A control software generation device comprising: means for converting the distributed arithmetic expression into software executed by each of the arithmetic units. 2. The control software generation device according to claim 1, wherein the means for distributing the grouped arithmetic expressions to a plurality of arithmetic units uses each time of the arithmetic operations as a weight for each arithmetic operation. A control software generation device characterized in that the distribution is performed so that the total sum of weights of the containers is substantially equal to each other. 3. The control software generation apparatus according to claim 1, further comprising the step of combining a plurality of arithmetic expressions distributed to the plurality of arithmetic units into one arithmetic expression. A control software generation device comprising means for executing the calculated arithmetic expression as much as possible.