本文選題：EtherCAT + 從站模塊設(shè)計(jì)　； 參考：《浙江大學(xué)》2017年碩士論文

【摘要】：多關(guān)節(jié)機(jī)器人在工業(yè)上已經(jīng)得到了非常廣泛的應(yīng)用,并且以后會(huì)用在越來越多的其他領(lǐng)域。多軸控制系統(tǒng)作為多關(guān)節(jié)機(jī)器人的核心,發(fā)展也十分迅速。傳統(tǒng)的多軸控制器體積比較龐大,擴(kuò)展性不好。在工業(yè)4.0的時(shí)代,多軸控制系統(tǒng)也越來越智能,同時(shí)體積也在逐步減小,并且能夠聯(lián)網(wǎng)。EtherCAT現(xiàn)場總線是一種新興工業(yè)實(shí)時(shí)以太網(wǎng)總線,經(jīng)過多年的技術(shù)發(fā)展,在通訊速度,拓?fù)浣Y(jié)構(gòu)等領(lǐng)域已經(jīng)具有非常獨(dú)特的優(yōu)勢(shì)。本課題的工作主要是將EtherCAT現(xiàn)場總線技術(shù)應(yīng)用在多軸控制系統(tǒng)中,利用其技術(shù)優(yōu)勢(shì),進(jìn)一步提高多軸控制器的擴(kuò)展性和靈活性,使控制系統(tǒng)網(wǎng)絡(luò)化。本課題首先分析了多軸控制系統(tǒng)的現(xiàn)狀以及發(fā)展趨勢(shì),介紹了 EtherCAT現(xiàn)場總線技術(shù),在此基礎(chǔ)上,確立了多軸控制系統(tǒng)的開發(fā)架構(gòu)以及開發(fā)方法。然后,課題設(shè)計(jì)完成了基于ET1100的通訊板。在此通訊板的基礎(chǔ)上,使用STM32單片機(jī)作為EtherCAT應(yīng)用層控制芯片,設(shè)計(jì)并完成了數(shù)字輸入輸出部分和模擬輸入輸出部分的軟硬件。同時(shí),為了達(dá)到工業(yè)現(xiàn)場的要求,設(shè)計(jì)著重考慮了安裝的便利性,熱插拔功能以及抗干擾性。接著,課題以實(shí)驗(yàn)室雕刻機(jī)為控制對(duì)象,以PC機(jī)作為EtherCAT主站,在主站上的TwinCAT軟件中設(shè)計(jì)實(shí)現(xiàn)了雕刻機(jī)的正逆運(yùn)動(dòng)學(xué)算法,并設(shè)計(jì)實(shí)現(xiàn)人機(jī)界面。同時(shí),課題使用ADS通訊接口與C#高級(jí)語言進(jìn)行通訊,實(shí)現(xiàn)了數(shù)據(jù)的交互。為了更加方便實(shí)現(xiàn)人機(jī)交互,課題也基于.NET架構(gòu)設(shè)計(jì)了人機(jī)界面,這樣方便Windows平臺(tái)對(duì)多軸系統(tǒng)的直接或者遠(yuǎn)程控制。最后,在雕刻機(jī)平臺(tái)上對(duì)設(shè)計(jì)的多軸控制系統(tǒng)進(jìn)行調(diào)試和實(shí)驗(yàn),同時(shí)對(duì)多軸之間的同步性能進(jìn)行測(cè)試,完成了雕刻機(jī)的單軸運(yùn)動(dòng),點(diǎn)動(dòng)運(yùn)動(dòng),多軸聯(lián)動(dòng)以及示教運(yùn)動(dòng),并且多軸之間的實(shí)時(shí)性在微秒級(jí)。
[Abstract]:Multi-joint robots have been widely used in industry and will be used in more and more other fields. As the core of multi-joint robot, multi-axis control system is developing rapidly. The traditional multi-axis controller is large in volume and poor in expansibility. In the era of industry 4.0, the multi-axis control system is becoming more and more intelligent and the volume is gradually decreasing, and the field bus can be connected to .EtherCAT field bus is a new industrial real-time Ethernet bus, after many years of technological development, in the communication speed, Topology and other fields have a very unique advantage. The main work of this paper is to apply the EtherCAT fieldbus technology to the multi-axis control system, and make use of its technical advantages to further improve the expansibility and flexibility of the multi-axis controller and make the control system networked. Firstly, the present situation and development trend of multi-axis control system are analyzed, and the EtherCAT fieldbus technology is introduced. Based on this, the development framework and method of multi-axis control system are established. Then, the communication board based on ET1100 is designed. On the basis of this communication board, the software and hardware of digital input and output part and analog input output part are designed and completed by using STM32 single chip computer as EtherCAT application layer control chip. At the same time, in order to meet the requirements of the industrial site, the installation convenience, hot-plug function and anti-interference are considered in the design. Then, taking the laboratory engraving machine as the control object and the PC as the EtherCAT master station, the paper designs and implements the forward and inverse kinematics algorithm of the engraving machine in the TwinCAT software of the master station, and designs and implements the man-machine interface. At the same time, the ADS communication interface is used to communicate with C # language, and the data exchange is realized. In order to realize human-computer interaction more conveniently, the human-machine interface is designed based on .NET architecture, which facilitates the direct or remote control of multi-axis system by Windows platform. Finally, the design of the multi-axis control system is debugged and tested on the engraving machine platform, and the synchronous performance between the multi-axes is tested. The single-axis motion, the point motion, the multi-axis linkage and the teaching motion of the engraving machine are completed. And the real-time between multi-axes is in microsecond.
【學(xué)位授予單位】：浙江大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP273

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