【摘要】：運動控制是工業(yè)控制和自動化的一個重要的方向。對運動控制的研究和應(yīng)用涉及到數(shù)控加工、印刷、機(jī)器人、生產(chǎn)線自動化等領(lǐng)域,先進(jìn)的運動控制技術(shù)能夠有力的提升我國高技術(shù)制造領(lǐng)域的水平,對軍工、航天乃至生產(chǎn)生活都有著巨大的推進(jìn)作用。 傳統(tǒng)的運動控制器從編程方式到硬件架構(gòu)都不能符合現(xiàn)代制造系統(tǒng)的柔性和開放性要求。隨著技術(shù)的發(fā)展和國際標(biāo)準(zhǔn)規(guī)范的制訂,開放式、可重構(gòu)的運動控制平臺的研究成為運動控制技術(shù)向前發(fā)展的重要目標(biāo)。 IEC61131標(biāo)準(zhǔn)規(guī)范的提出,統(tǒng)一了運動控制開發(fā)環(huán)境所使用的編程語言；PLCopen組織將運動控制功能標(biāo)準(zhǔn)化、模塊化,建立了統(tǒng)一的運動控制功能交流平臺�；跇�(biāo)準(zhǔn)PC和標(biāo)準(zhǔn)操作系統(tǒng)的控制器軟件實現(xiàn)更加解放了運動控制的束縛,使其擺脫了對專有硬件的依賴。工業(yè)實時以太網(wǎng)技術(shù)的發(fā)展也為開放式運動控制平臺奠定了設(shè)備連接和通訊的基礎(chǔ)。 CoDeSys是國際上廣泛使用和研究的基于IEC61131-3的運動控制軟件解決方案。EtherMAC工業(yè)實時以太網(wǎng)總線也是山東大學(xué)數(shù)控研究中心具有自主知識產(chǎn)權(quán)的工業(yè)以太網(wǎng)總線,具有很多成功應(yīng)用的案例。 本文基于CoDeSys和EtherMAC工業(yè)實時以太網(wǎng)進(jìn)行開放式運動控制平臺的研究和設(shè)計。闡述了開放式運動控制的發(fā)展、IEC61131標(biāo)準(zhǔn)以及PLCopen標(biāo)準(zhǔn),提出基于CoDeSys和EtherMAC實時以太網(wǎng)總線的運動控制平臺的設(shè)計方案及CoDeSys編程環(huán)境與EtherMAC總線的一種同步機(jī)制；并且詳細(xì)介紹了CoDeSys實時以太網(wǎng)接口庫CmpEtherMAC和EtherMAC實時以太網(wǎng)通信庫的設(shè)計和實現(xiàn)。最后以該平臺開發(fā)的繞線機(jī)控制系統(tǒng)為例。驗證了平臺架構(gòu)的有效性和可靠性和開發(fā)過程中的優(yōu)勢。
[Abstract]:Motion control is an important direction for industrial control and automation. The research and application of motion control are related to the fields of numerical control processing, printing, robot, production line automation and so on. the traditional motion controller can not meet the flexibility and openness of the modern manufacturing system from the programming mode to the hardware architecture, With the development of the technology and the development of the international standard, the research of the open and reconfigurable motion control platform becomes an important object of the forward development of the motion control technology According to the standard specification of IEC61131, the programming language used in the motion control development environment is unified. The PLCopen organization standardized and modularized the motion control function, and established a unified motion control function. The controller software based on the standard PC and the standard operating system liberates the restraint of the motion control to get rid of the proprietary hardware The development of industrial real-time Ethernet technology also provides the equipment connection and communication for the open motion control platform. Foundation of CoDeSys is based on IEC61131-3 motion control software widely used and researched in the world The EtherNet industrial real-time Ethernet bus is also an industrial Ethernet bus with independent intellectual property right in the NC research center of Shandong University, which has a lot of success The application of real-time Ethernet based on CoDeSys and EtherMAC is based on the open motion control. The development of the open motion control, the IEC61131 standard and the PLCopen standard are described. The design scheme of the motion control platform based on the CoDeSys and EtherMAC real-time Ethernet bus and the CoDeSys programming environment and the EtherMAC bus are put forward. A synchronization mechanism is presented, and the CoDeSys real-time Ethernet interface library, CmpEtherMAC and EtherMAC real-time Ethernet communication are described in detail. The design and implementation of the library. Take the machine control system as an example. The effectiveness and reliability and opening of the platform architecture are verified.
【學(xué)位授予單位】：山東大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：TP273

【引證文獻(xiàn)】

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本文編號：2488049