本文選題：Ethernet + Powerlink��； 參考：《山東大學(xué)》2014年碩士論文

【摘要】：當(dāng)前,使用實(shí)時(shí)工業(yè)以太網(wǎng)組建網(wǎng)絡(luò)化交流伺服系統(tǒng)是目前工業(yè)自動(dòng)化應(yīng)用領(lǐng)域的流行趨勢(shì),各大知名工業(yè)自動(dòng)化設(shè)備制造商紛紛推出了基于實(shí)時(shí)以太網(wǎng)的網(wǎng)絡(luò)化伺服系統(tǒng),研究基于網(wǎng)絡(luò)的交流伺服系統(tǒng)具有重要意義,實(shí)時(shí)以太網(wǎng)Powerlink已經(jīng)在實(shí)踐中經(jīng)過(guò)了驗(yàn)證,因而Powerlink成為了本文網(wǎng)絡(luò)化交流伺服系統(tǒng)的首選。 本文所實(shí)現(xiàn)的基于Powerlink的網(wǎng)絡(luò)化交流伺服系統(tǒng),主要分為主站和從站兩個(gè)層次。其中,從站主要由帶有Powerlink通信接口的交流伺服驅(qū)動(dòng)器和交流伺服電機(jī)組成,主站采用貝加萊X20系列控制器實(shí)現(xiàn),通過(guò)網(wǎng)線連接成直線型結(jié)構(gòu)。 首先,本文詳細(xì)闡述了從站的具體實(shí)現(xiàn)。從站的實(shí)施分為四個(gè)方面。首先,從站采用了Powerlink源碼,使用Powerlink源碼組建了通信模塊。其次,在從站中實(shí)現(xiàn)了標(biāo)準(zhǔn)IEC61800-7。這一標(biāo)準(zhǔn)是運(yùn)動(dòng)控制標(biāo)準(zhǔn),本文主要參考了其關(guān)于CiA402類型的運(yùn)動(dòng)行規(guī),從而為從站建立了統(tǒng)一的伺服運(yùn)動(dòng)接口,并且實(shí)現(xiàn)了電源驅(qū)動(dòng)狀態(tài)機(jī)。本文的控制模式采用了循環(huán)同步位置模式。再次,對(duì)系統(tǒng)進(jìn)行了同步性補(bǔ)償,同步性補(bǔ)償主要是固定延遲補(bǔ)償。通過(guò)延遲補(bǔ)償,提高了系統(tǒng)的同步性能。最后,為從站編寫了XDD設(shè)備描述文件,XDD文件主要作用是為主站提供了從站信息參考。 其次,介紹了主站的具體實(shí)現(xiàn)。主站的實(shí)施采用的X20系列型號(hào)為CP1484的控制器。主站使用了貝加萊Automation Studio開(kāi)發(fā)平臺(tái),并根據(jù)ACP10軟件的工作原理,本文研發(fā)了主站控制程序,主要包括三個(gè)方面：基于SDC(Smart Device Controller)的實(shí)軸接口的實(shí)現(xiàn),為系統(tǒng)添加的基于IEC61800-7的電機(jī)庫(kù),能夠執(zhí)行運(yùn)動(dòng)控制的伺服驅(qū)動(dòng)應(yīng)用程序。其中,SDC是貝加萊提供一個(gè)接口,可用于開(kāi)發(fā)連接其他品牌的伺服驅(qū)動(dòng)的接口；主站中需要實(shí)現(xiàn)IEC61800-7電機(jī)庫(kù),才能與使用同一標(biāo)準(zhǔn)的從站建立運(yùn)動(dòng)關(guān)系。 最后,本文分別使用了PC機(jī)和貝加萊控制器進(jìn)行了測(cè)試。使用PC機(jī)做主站在Windows環(huán)境下測(cè)試了主從站通信,給出了測(cè)試結(jié)果。使用貝加萊控制器做主站,測(cè)試了主從站聯(lián)合運(yùn)動(dòng),給出了主-從站聯(lián)合測(cè)試的結(jié)果。此外,還進(jìn)行了多軸同步性試驗(yàn),給出了同步性測(cè)試的結(jié)果,同步抖動(dòng)約為1.945μs。
[Abstract]:At present, the use of real-time industrial Ethernet to build networked AC servo system is a popular trend in the field of industrial automation application. The famous manufacturers of industrial automation equipment have introduced a networked servo system based on real-time Ethernet. It is of great significance to study the AC servo system based on network. The real-time Ethernet Powerlink has been verified in practice, so Powerlink has become the first choice of the networked AC servo system in this paper. The networked AC servo system based on Powerlink is mainly divided into two levels: master station and slave station. The slave station is mainly composed of AC servo driver with Powerlink communication interface and AC servo motor. The main station is realized by using the series of controller of Begarle X20, and connected into a linear structure through the network. First of all, this paper describes the specific implementation of the slave station in detail. The implementation of the station is divided into four aspects. First of all, the station used Powerlink source code, using Powerlink source code to build the communication module. Secondly, the standard IEC 61800-7 is implemented in the slave station. This standard is a motion control standard. This paper mainly refers to the motion regulation of CiA402 type, and establishes a unified servo motion interface for slave station, and realizes the power drive state machine. The control mode of this paper adopts the cyclic synchronous position mode. Thirdly, the system is compensated for synchronization, which is mainly fixed delay compensation. The synchronization performance of the system is improved by delay compensation. Finally, the XDD device description file is written for the slave station. The main function of the XDD file is to provide the slave station information reference for the master station. Secondly, the realization of master station is introduced. The implementation of the main station uses the X 20 series controller CP1484. The master station uses the Automation Studio development platform, and according to the working principle of ACP10 software, this paper develops the master station control program, mainly includes three aspects: the realization of the real axis interface based on SDC, the motor library based on IEC61800-7 added to the system. A servo drive application capable of performing motion control. SDC is an interface provided by Begale, which can be used to develop servo drive interface connected to other brands. IEC61800-7 motor library is needed in the master station in order to establish a motion relationship with the slave station using the same standard. Finally, PC and Baigale controller are used to test. The communication between master and slave is tested in Windows environment with PC as master station, and the test results are given. The combined motion of master and slave stations is tested by using the Begale controller as master station, and the results of master slave station joint test are given. In addition, the multi-axis synchronicity test is carried out, and the results of synchronism test are given. The synchronous jitter is about 1.945 渭 s.
【學(xué)位授予單位】：山東大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：TP273;TP393.11

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