本文選題：運(yùn)動控制系統(tǒng) + 工業(yè)以太網(wǎng)��； 參考：《廣東工業(yè)大學(xué)》2017年碩士論文

【摘要】：運(yùn)動控制系統(tǒng)是數(shù)控裝備實(shí)現(xiàn)精密加工的關(guān)鍵設(shè)備。隨著工業(yè)自動化技術(shù)的不斷發(fā)展,網(wǎng)絡(luò)化、智能化和柔性化的運(yùn)動控制系統(tǒng)成為未來的發(fā)展趨勢。傳統(tǒng)的基于現(xiàn)場總線技術(shù)的運(yùn)動控制系統(tǒng)已不能滿足需求,工業(yè)以太網(wǎng)以其實(shí)時(shí)性強(qiáng)、通信容量大、開放性好等優(yōu)點(diǎn)逐步被廣泛應(yīng)用于運(yùn)動控制系統(tǒng)當(dāng)中。EtherCAT工業(yè)以太網(wǎng)因其通信速度快、可靠性高以及同步性好而備受青睞。本文將EtherCAT實(shí)時(shí)工業(yè)以太網(wǎng)技術(shù)引入多軸運(yùn)動控制系統(tǒng)當(dāng)中,在深入研究多軸運(yùn)動控制技術(shù)和EtherCAT網(wǎng)絡(luò)技術(shù)的基礎(chǔ)上,進(jìn)行了從站運(yùn)動控制器軟硬件開發(fā),設(shè)計(jì)了EtherCAT主站數(shù)控軟件。運(yùn)動控制系統(tǒng)在通過一系列測試后,成功應(yīng)用在數(shù)控轉(zhuǎn)塔沖床上。論文主要研究內(nèi)容和成果如下:1.研究了運(yùn)動控制系統(tǒng)在國內(nèi)外的發(fā)展現(xiàn)狀,在比較了主流的實(shí)時(shí)工業(yè)以太網(wǎng)后,采用EtherCAT以太網(wǎng)來實(shí)現(xiàn)控制系統(tǒng)內(nèi)部的通信。對EtherCAT協(xié)議進(jìn)行了深入研究,提出了運(yùn)動控制系統(tǒng)總體的設(shè)計(jì)方案,又分別設(shè)計(jì)了控制系統(tǒng)硬件和軟件方案。2.選用無風(fēng)扇的工業(yè)PC機(jī)作為控制主站,詳細(xì)設(shè)計(jì)了從站運(yùn)動控制器的EtherCAT通信電路、ARM控制電路、伺服接口電路以及電源電路,在完成PCB板的布局布線后成功開發(fā)出控制器樣機(jī)。3.在主站PC機(jī)軟件部分,改造了linux實(shí)時(shí)性、安裝了EtherCAT主站和Linux CNC、編寫了數(shù)控界面。從站運(yùn)動控制器軟件部分完成了ARM主控制程序、ET1200通信程序、FSMC總線驅(qū)動以及加減速控制算法。實(shí)現(xiàn)了從G代碼文件輸入到控制軸精確定位的整套軟件。4.在控制系統(tǒng)軟硬件設(shè)計(jì)完成后,搭建了實(shí)驗(yàn)平臺,進(jìn)行了主從站之間的通信測試、控制系統(tǒng)的基本功能測試、G代碼解釋功能測試、圓弧插補(bǔ)功能測試以及多軸同步功能測試,在通過一系列實(shí)驗(yàn)測試后在LX230B型數(shù)控沖床上進(jìn)行了高速點(diǎn)動實(shí)驗(yàn),實(shí)現(xiàn)了預(yù)期的運(yùn)動控制效果。運(yùn)動控制系統(tǒng)總體測試結(jié)果達(dá)到設(shè)計(jì)要求,為進(jìn)一步研究奠定了良好的基礎(chǔ)。
[Abstract]:Motion control system is the key equipment for NC equipment to realize precision machining. With the development of industrial automation technology, networked, intelligent and flexible motion control system will become a trend in the future. The traditional motion control system based on fieldbus technology can not meet the needs of industrial Ethernet because of its strong real-time, large communication capacity, The advantages of good openness have been widely used in motion control systems. EtherCAT industrial Ethernet has been favored for its high communication speed, high reliability and good synchronization. In this paper, EtherCAT real-time industrial Ethernet technology is introduced into multi-axis motion control system. On the basis of deep research on multi-axis motion control technology and Ethernet network technology, hardware and software of slave station motion controller are developed, and EtherCAT master station numerical control software is designed. The motion control system is successfully applied to CNC turret punch after a series of tests. The main research contents and results are as follows: 1. The development of motion control system at home and abroad is studied. After comparing the mainstream real-time industrial Ethernet, EtherCAT Ethernet is used to realize the internal communication of the control system. In this paper, the EtherCAT protocol is deeply studied, and the overall design scheme of the motion control system is put forward, and the hardware and software schemes of the control system are designed respectively. The industrial PC without fan is selected as the main control station. The EtherCAT communication circuit, servo interface circuit and power supply circuit of the slave station motion controller are designed in detail. After the PCB layout and wiring is completed, the controller prototype .3is developed successfully. In the part of PC software of the master station, the real-time performance of linux is reformed, the EtherCAT master station and linux CNC are installed, and the NC interface is written. From the software of the station motion controller, the arm main control program, ET1200 communication program and FSMC bus drive and acceleration and deceleration control algorithm are completed. Realized from G code file input to the control axis accurate positioning software. 4. After the hardware and software design of the control system is finished, the experimental platform is built, the communication test between the master and slave stations, the basic function test of the control system, the code interpretation function test of the control system, the arc interpolation function test and the multi-axis synchronization function test are carried out. After a series of experimental tests, a high speed spot motion experiment was carried out on the LX230B CNC punch, and the desired motion control effect was achieved. The overall test results of the motion control system meet the design requirements and lay a good foundation for further research.
【學(xué)位授予單位】：廣東工業(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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