基于CoDeSys和EtherMAC總線的運動控制平臺設計
發(fā)布時間：2019-05-29 16:12
【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用涉及到數(shù)控加工、印刷、機器人、生產線自動化等領域,先進的運動控制技術能夠有力的提升我國高技術制造領域的水平,對軍工、航天乃至生產生活都有著巨大的推進作用。 傳統(tǒng)的運動控制器從編程方式到硬件架構都不能符合現(xiàn)代制造系統(tǒng)的柔性和開放性要求。隨著技術的發(fā)展和國際標準規(guī)范的制訂,開放式、可重構的運動控制平臺的研究成為運動控制技術向前發(fā)展的重要目標。 IEC61131標準規(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準化、模塊化,建立了統(tǒng)一的運動控制功能交流平臺�；跇藴蔖C和標準操作系統(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)技術的發(fā)展也為開放式運動控制平臺奠定了設備連接和通訊的基礎。 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)總線也是山東大學數(shù)控研究中心具有自主知識產權的工業(yè)以太網(wǎng)總線,具有很多成功應用的案例。 本文基于CoDeSys和EtherMAC工業(yè)實時以太網(wǎng)進行開放式運動控制平臺的研究和設計。闡述了開放式運動控制的發(fā)展、IEC61131標準以及PLCopen標準,提出基于CoDeSys和EtherMAC實時以太網(wǎng)總線的運動控制平臺的設計方案及CoDeSys編程環(huán)境與EtherMAC總線的一種同步機制；并且詳細介紹了CoDeSys實時以太網(wǎng)接口庫CmpEtherMAC和EtherMAC實時以太網(wǎng)通信庫的設計和實現(xiàn)。最后以該平臺開發(fā)的繞線機控制系統(tǒng)為例。驗證了平臺架構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.
【學位授予單位】：山東大學
【學位級別】：碩士
【學位授予年份】：2014
【分類號】：TP273
本文編號：2488049
[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.
【學位授予單位】：山東大學
【學位級別】：碩士
【學位授予年份】：2014
【分類號】：TP273
【引證文獻】
相關期刊論文 前1條
1 徐超;平雪良;鞠明華;;鋼桶螺紋蓋機器人旋緊控制系統(tǒng)[J];輕工機械;2016年06期
相關碩士學位論文 前3條
1 仲斐;集成車間管控功能的非標自動化控制系統(tǒng)開發(fā)平臺關鍵技術研究[D];山東大學;2016年
2 周長城;基于EtherCAT的伺服控制系統(tǒng)研究和設計[D];浙江工業(yè)大學;2015年
3 劉瀚隆;瀝青路面就地熱再生復拌機測控系統(tǒng)設計[D];南京理工大學;2015年
，本文編號：2488049
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