本文選題：多軸運(yùn)動(dòng)控制　切入點(diǎn)：RTX　出處：《南京航空航天大學(xué)》2014年碩士論文

【摘要】：制造裝備產(chǎn)業(yè)作為當(dāng)前國家重點(diǎn)發(fā)展的支柱產(chǎn)業(yè)，不僅是國家經(jīng)濟(jì)發(fā)展的支撐力量，更是衡量一個(gè)國家工業(yè)發(fā)展水平的重要標(biāo)志。運(yùn)動(dòng)控制技術(shù)廣泛應(yīng)用于機(jī)電裝備制造業(yè)，對制造業(yè)的發(fā)展水平具有舉足輕重的作用。隨著網(wǎng)絡(luò)技術(shù)的普及和發(fā)展，將以太網(wǎng)作為通信方式用于運(yùn)動(dòng)控制系統(tǒng)，逐漸成為當(dāng)今運(yùn)動(dòng)控制技術(shù)發(fā)展的一個(gè)重要方向。本文對基于以太網(wǎng)的分布式運(yùn)動(dòng)控制網(wǎng)絡(luò)進(jìn)行了系統(tǒng)研究，并將以太網(wǎng)通信與嵌入式技術(shù)應(yīng)用于網(wǎng)絡(luò)化運(yùn)動(dòng)控制系統(tǒng)中。 本文選擇Windows作為運(yùn)動(dòng)控制系統(tǒng)的上位機(jī)軟件平臺(tái)。針對Windows系統(tǒng)的非實(shí)時(shí)性，通過對RTX子實(shí)時(shí)系統(tǒng)RTSS的實(shí)時(shí)性和RT-TCP/IP協(xié)議數(shù)據(jù)傳輸時(shí)間延遲的分析，，提出使用Windows的實(shí)時(shí)擴(kuò)展RTX解決系統(tǒng)和通信的實(shí)時(shí)性和穩(wěn)定性的方案，可有效降低Windows平臺(tái)下實(shí)時(shí)控制系統(tǒng)的設(shè)計(jì)和開發(fā)成本。 針對主站與從站之間通過集線器連接的分布式網(wǎng)絡(luò)化運(yùn)動(dòng)控制系統(tǒng)架構(gòu)，研究了各軸之間網(wǎng)絡(luò)節(jié)點(diǎn)的同步問題，引入Libpcap網(wǎng)絡(luò)數(shù)據(jù)包嗅探器原理和機(jī)制，將從站網(wǎng)絡(luò)適配器的工作模式設(shè)置為混雜模式，設(shè)計(jì)基于Libpcap的網(wǎng)絡(luò)數(shù)據(jù)包嗅探器，制定實(shí)時(shí)同步以太網(wǎng)的報(bào)文結(jié)構(gòu)，實(shí)現(xiàn)了各個(gè)網(wǎng)絡(luò)節(jié)點(diǎn)之間的數(shù)據(jù)同步。 結(jié)合上面的研究成果，完成了基于以太網(wǎng)通信技術(shù)和嵌入式技術(shù)的多軸運(yùn)動(dòng)控制系統(tǒng)的軟件開發(fā)，包括Windows環(huán)境下RTX的實(shí)時(shí)應(yīng)用開發(fā)，μC/OS-II在嵌入式系統(tǒng)中的移植，uIP移植，Libpcap在μC/OS-II中的實(shí)現(xiàn)，Sniffing的實(shí)現(xiàn)等。 最后，在搭建的試驗(yàn)平臺(tái)上對開發(fā)的控制系統(tǒng)進(jìn)行數(shù)據(jù)傳輸測試，驗(yàn)證基于Windows實(shí)時(shí)擴(kuò)展RTX平臺(tái)的網(wǎng)絡(luò)型多軸運(yùn)動(dòng)控制系統(tǒng)網(wǎng)絡(luò)通信的可靠性。
[Abstract]:As the pillar industry of national key development, manufacturing equipment industry is not only the supporting force of national economic development, but also an important symbol to measure the level of a country's industrial development.Motion control technology is widely used in electromechanical equipment manufacturing industry, which plays an important role in the development of manufacturing industry.With the popularization and development of network technology, using Ethernet as a communication mode in motion control system has gradually become an important direction of motion control technology.In this paper, the distributed motion control network based on Ethernet is systematically studied, and Ethernet communication and embedded technology are applied to the networked motion control system.In this paper, Windows is chosen as the upper computer software platform of motion control system.Aiming at the non-real time of Windows system, through the analysis of the real time of RTSS and the time delay of data transmission of RT-TCP/IP protocol, the scheme of real time and stability of real time extended RTX system and communication based on Windows is put forward by analyzing the real time of RTSS and the time delay of RT-TCP/IP protocol data transmission.It can effectively reduce the design and development cost of real-time control system based on Windows platform.Aiming at the architecture of distributed networked motion control system connected by hub between master station and slave station, the synchronization of network nodes between each axis is studied, and the principle and mechanism of Libpcap network packet sniffer are introduced.The working mode of slave network adapter is set to hybrid mode, the network packet sniffer based on Libpcap is designed, the packet structure of real-time synchronous Ethernet is established, and the data synchronization among each network node is realized.Based on the above research results, the software development of multi-axis motion control system based on Ethernet communication technology and embedded technology is completed.It includes the development of real-time application of RTX in Windows environment, the transplantation of 渭 C/OS-II in embedded system and the realization of libpcap in 渭 C/OS-II.Finally, the data transmission test of the developed control system is carried out on the built test platform, and the reliability of network communication of the network multi-axis motion control system based on Windows real-time extended RTX platform is verified.
【學(xué)位授予單位】：南京航空航天大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：TP393.11;TP273

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