【摘要】：當(dāng)前,新一輪科技革命和產(chǎn)業(yè)變革正在發(fā)生,制造業(yè)正在向以設(shè)備互聯(lián)通信為基礎(chǔ)的智能制造發(fā)展。多軸運(yùn)動(dòng)控制系統(tǒng)作為工業(yè)自動(dòng)化設(shè)備的重要組成部分,在各行業(yè)都有廣泛的應(yīng)用,EtherCAT總線具有實(shí)時(shí)性好、速度快、同步性高、開(kāi)放性好、拓?fù)潇`活、成本低等優(yōu)點(diǎn),特別適合網(wǎng)絡(luò)化多軸運(yùn)動(dòng)控制系統(tǒng)的通信,因此,研究發(fā)展EtherCAT總線多軸運(yùn)動(dòng)控制技術(shù)對(duì)于提升自動(dòng)化設(shè)備的性能,乃至于提高制造業(yè)的生產(chǎn)力水平具有重要意義。本文設(shè)計(jì)了一種基于ARM-FPGA的EtherCAT總線多軸運(yùn)動(dòng)控制系統(tǒng)。首先進(jìn)行了方案設(shè)計(jì),該系統(tǒng)主要由EtherCAT主站和從站運(yùn)動(dòng)控制板組成,運(yùn)動(dòng)控制板采用ARM+FPGA架構(gòu),可以控制6個(gè)運(yùn)動(dòng)軸,有32路數(shù)字量輸入,16路數(shù)字量輸出,帶有EtherCAT總線和RS485總線接口。其次,選擇了ARM和FPGA芯片,采用Altum Designer軟件設(shè)計(jì)了ARM和FPGA的核心電路、供電電路以及外部接口電路的原理圖,并據(jù)此設(shè)計(jì)了PCB版圖,制作了運(yùn)動(dòng)控制板樣板。然后,采用Verilog硬件描述語(yǔ)言設(shè)計(jì)了FPGA與ARM通信的FSMC模塊、I/O控制模塊及軸控制模塊,在軸控制模塊的設(shè)計(jì)中分析了目前常用的加減速算法的性能及硬件實(shí)現(xiàn)的可行性,在FPGA中硬件實(shí)現(xiàn)了直線和S形兩種加減速算法,并進(jìn)行了ModeSim仿真實(shí)驗(yàn)。最后,選擇CoDeSys作為EtherCAT主站,并編寫(xiě)了運(yùn)動(dòng)控制板EtherCAT從站描述文件;對(duì)觸摸屏進(jìn)行了組態(tài)開(kāi)發(fā),設(shè)計(jì)了觸摸屏界面,分配了Modbus協(xié)議通道;以及開(kāi)發(fā)了運(yùn)動(dòng)控制板上ARM中運(yùn)行的EtherCAT從站程序和Modbus通信程序,完成了系統(tǒng)軟件設(shè)計(jì)。在上述軟硬件設(shè)計(jì)開(kāi)發(fā)的基礎(chǔ)上,采用裝有CoDeSys運(yùn)行時(shí)系統(tǒng)的樹(shù)莓派做主站搭建了一套EtherCAT總線運(yùn)動(dòng)控制系統(tǒng),采用昆侖通態(tài)觸摸屏搭建了一套R(shí)S485總線運(yùn)動(dòng)控制系統(tǒng),并分別進(jìn)行了功能實(shí)驗(yàn)。實(shí)驗(yàn)結(jié)果表明兩套運(yùn)動(dòng)控制系統(tǒng)均可實(shí)現(xiàn)定位,點(diǎn)動(dòng)等基本控制功能。此外,還將該系統(tǒng)做了應(yīng)用測(cè)試,結(jié)果表明可以滿足控制需求。本文設(shè)計(jì)的運(yùn)動(dòng)控制系統(tǒng)開(kāi)放性好、網(wǎng)絡(luò)化擴(kuò)展性強(qiáng)、性能優(yōu)越、成本低,在工業(yè)自動(dòng)化設(shè)備中具有廣闊的應(yīng)用前景。
[Abstract]:At present, a new round of technological revolution and industrial revolution is taking place, and the manufacturing industry is developing to intelligent manufacturing based on equipment communication. As an important part of industrial automation equipment, multi-axis motion control system is widely used in various industries. EtherCAT bus has the advantages of good real-time, high speed, high synchronicity, good openness, flexible topology, low cost and so on. It is especially suitable for the communication of networked multi-axis motion control system. Therefore, the research and development of multi-axis motion control technology based on EtherCAT bus is of great significance to improve the performance of automation equipment and even to improve the productivity of manufacturing industry. A EtherCAT bus multi-axis motion control system based on ARM-FPGA is designed in this paper. The system is mainly composed of EtherCAT master station and slave station motion control board. The motion control board adopts ARM FPGA architecture, which can control 6 motion axes with 32 digital input and 16 digital output. With EtherCAT bus and RS485 bus interface. Secondly, ARM and FPGA chips are selected, the core circuits of ARM and FPGA are designed by Altum Designer software, the schematic diagram of power supply circuit and external interface circuit are designed, and the layout of PCB is designed accordingly, and the motion-control board template is made. Then, the FSMC module, I / O control module and axis control module of FPGA and ARM communication are designed by using Verilog hardware description language. In the design of axis control module, the performance of commonly used acceleration and deceleration algorithm and the feasibility of hardware implementation are analyzed. Two acceleration and deceleration algorithms, linear and S-shaped, are implemented in FPGA hardware, and ModeSim simulation experiments are carried out. Finally, CoDeSys is chosen as the EtherCAT master station, and the EtherCAT slave station description file of motion control board is written, the touch screen is configured, the touch screen interface is designed, and the Modbus protocol channel is allocated. The EtherCAT slave station program and Modbus communication program running in ARM on the motion control board are developed, and the system software design is completed. On the basis of the design and development of the hardware and software mentioned above, a set of EtherCAT bus motion control system is set up by using raspberry pie station with CoDeSys runtime system, and a set of RS485 bus motion control system is built by using Kunlun on-state touch screen. Functional experiments were carried out respectively. The experimental results show that the two motion control systems can realize the basic control functions such as location and point motion. In addition, the system is tested, and the results show that the system can meet the control requirements. The motion control system designed in this paper has the advantages of good openness, strong network expansibility, superior performance and low cost, so it has a broad application prospect in industrial automation equipment.
【學(xué)位授予單位】：青島理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：TP273

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