本文選題：IEC61131標(biāo)準(zhǔn) + 軟PLC��； 參考：《合肥工業(yè)大學(xué)》2017年碩士論文

【摘要】：隨著數(shù)控機(jī)床和工業(yè)機(jī)器人的應(yīng)用越來越多,人們逐漸意識到運(yùn)動控制器在制造業(yè)中所具有的廣闊前景。傳統(tǒng)封閉式體系結(jié)構(gòu)的運(yùn)動控技術(shù)已無法滿足現(xiàn)代制造業(yè)向信息化發(fā)展的要求,如今開放式運(yùn)動控制技術(shù)已成為主流發(fā)展趨勢。軟PLC技術(shù)則是實現(xiàn)開放式運(yùn)動控制系統(tǒng)的關(guān)鍵技術(shù)之一。另外,傳統(tǒng)的運(yùn)動控制編程語言由于其封閉的軟件系統(tǒng)已無法適應(yīng)開放式運(yùn)動控制系統(tǒng)的發(fā)展要求。PLCopen標(biāo)準(zhǔn)定義的運(yùn)動控制功能模塊成為運(yùn)動控制編程語言的標(biāo)準(zhǔn),其可以使邏輯控制與運(yùn)動控制的編程開發(fā)更好的結(jié)合。因此研究開放式運(yùn)動控制技術(shù)具有重要的意義。所以本文以開發(fā)基于IEC61131標(biāo)準(zhǔn)和PLCopen規(guī)范的嵌入式開放運(yùn)動控制器為研究重點(diǎn),使用ARM Cortex A9芯片+Win CE系統(tǒng)為硬件平臺、Multi Prog+Pro Con OS e CLR為軟件平臺、Ether CAT通訊協(xié)議為通訊標(biāo)準(zhǔn)。這樣的搭配既能保證數(shù)據(jù)的及時處理與運(yùn)算又能保證邏輯控制與運(yùn)動控制同時進(jìn)行。首先,介紹了課題的研究背景、現(xiàn)狀和該課題所具有的重要的理論意義和實踐意義,并對軟PLC和運(yùn)動控制的結(jié)合方法進(jìn)行了闡述。其次,研究了運(yùn)動控制和PLC結(jié)合后產(chǎn)生的運(yùn)動控制編程方式--運(yùn)動控制功能塊。在詳細(xì)研究了此類功能塊的模型、規(guī)范和功能后,重點(diǎn)介紹本文已經(jīng)實現(xiàn)了的功能塊。再次,設(shè)計和搭建了符合IEC61131標(biāo)準(zhǔn)的開放式運(yùn)動控制系統(tǒng)平臺的,包括硬件平臺選擇、軟件平臺設(shè)計和通訊系統(tǒng)搭建。針對單軸運(yùn)動控制的加減速設(shè)計,給出了詳細(xì)的設(shè)計步驟和數(shù)學(xué)推導(dǎo),并給出了仿真結(jié)果,說明本文所設(shè)計的算法的正確性。最后,給出了具體的功能塊的程序?qū)崿F(xiàn)和開發(fā)過程,包括狀態(tài)機(jī)的實現(xiàn)、接口功能的實現(xiàn)、錯誤檢測與處理機(jī)制的實現(xiàn)、運(yùn)動程序任務(wù)執(zhí)行過程的實現(xiàn)和使用eCLR開發(fā)通用功能塊的過程。
[Abstract]:With the more and more applications of CNC machine tools and industrial robots, people are gradually aware of the broad prospects of the motion controller in the manufacturing industry. The traditional closed architecture motion control technology has not met the requirements of the modern manufacturing industry to the development of information technology. Now the open motion control technology has become the mainstream development trend. Soft PLC technology is one of the key technologies to realize the open motion control system. In addition, the traditional motion control programming language is unable to adapt to the development of the open motion control system because of its closed software system. The motion control function module defined by the.PLCopen standard is the standard of the motion control programming language. Logic control is better combined with the programming and development of motion control. Therefore, it is of great significance to study the open motion control technology. Therefore, this paper focuses on the development of embedded open motion controller based on IEC61131 standard and PLCopen specification, using ARM Cortex A9 chip + Win CE system as hardware platform, Multi Prog+Pro Con O The S e CLR is the software platform and the Ether CAT communication protocol is the communication standard. This collocation can not only guarantee the timely processing and operation of the data, but also guarantee the logic control and motion control. First, it introduces the research background, the present situation and the important theoretical and practical significance of the subject, and the soft PLC and motion control. The combination method of the system is expounded. Secondly, the motion control programming mode, motion control function block, which is produced by the combination of motion control and PLC, is studied. After studying the model, specification and function of this kind of functional block in detail, the function block is introduced in this paper. Again, the design and construction of the open mode conforming to the IEC61131 standard The platform of motion control system includes the selection of hardware platform, the design of software platform and the construction of communication system. In view of the acceleration and deceleration design of the single axis motion control, the detailed design steps and mathematical derivation are given, and the simulation results are given, and the correctness of the algorithm is illustrated. Finally, the program implementation of the specific function block is given. And the development process, including the realization of the state machine, the realization of the interface function, the realization of the error detection and processing mechanism, the implementation of the execution process of the sports program task and the process of using the eCLR to develop the general function block.

【學(xué)位授予單位】：合肥工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP273

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