【摘要】：隨著工業(yè)自動(dòng)化的發(fā)展,多軸伺服控制系統(tǒng)在數(shù)控系統(tǒng),可重構(gòu)制造系統(tǒng),柔性制造系統(tǒng)以及各種新興制造系統(tǒng)中變得不可或缺,多軸伺服控制系統(tǒng)對(duì)快速性、實(shí)時(shí)性、可靠性等的要求越來(lái)越苛刻,而傳統(tǒng)的現(xiàn)場(chǎng)總線已經(jīng)不能滿足要求,工業(yè)以太網(wǎng)應(yīng)運(yùn)而生。在眾多的工業(yè)以太網(wǎng)中,德國(guó)BECKHOFF公司于2003年推出的實(shí)時(shí)工業(yè)以太網(wǎng)EtherCAT因其高速高效,實(shí)時(shí)性好,靈活的拓?fù)浣Y(jié)構(gòu),廣泛的適用性,最大支持65535個(gè)設(shè)備等特性,在世界范圍內(nèi)得到了廣泛的關(guān)注和應(yīng)用。本課題搭建了多軸伺服控制系統(tǒng)試驗(yàn)平臺(tái),旨在研究工業(yè)以太網(wǎng)EtherCAT在控制多個(gè)伺服電機(jī)時(shí),伺服系統(tǒng)本身的實(shí)時(shí)性、可靠性、穩(wěn)定性。本文的主要工作如下:1、論文首先總結(jié)了工業(yè)控制網(wǎng)絡(luò)由現(xiàn)場(chǎng)總線到實(shí)時(shí)以太網(wǎng)的發(fā)展過程,引出和比較了幾種實(shí)時(shí)工業(yè)以太網(wǎng):EtherCAT、Ethernet Powerlink、PROFINET、Ethemet/IP。運(yùn)用MATLAB模擬了在可重構(gòu)模具中,基于EtherCAT多軸伺服系統(tǒng)的實(shí)現(xiàn)方法。2、設(shè)計(jì)并搭建了一套基于EtherCAT的多軸伺服系統(tǒng)的試驗(yàn)平臺(tái)。確定以裝有TwinCAT軟件的計(jì)算機(jī)作為主站,倍�？偩�耦合器EK1100和兩伺服驅(qū)動(dòng)器作為從站,通過兩個(gè)互相垂直的KK模組帶動(dòng)負(fù)載運(yùn)動(dòng)的伺服控制系統(tǒng)方案。3、通過倍福公司的TwinCAT軟件組態(tài)從站,配置和調(diào)試伺服電機(jī)參數(shù),按照規(guī)定字符軌跡編寫NC文件和PLC程序來(lái)實(shí)現(xiàn)平面內(nèi)兩軸協(xié)同運(yùn)動(dòng),并能實(shí)時(shí)將X、Y軸的實(shí)時(shí)數(shù)據(jù)采集并保存到EXCEL表格中。4、根據(jù)控制系統(tǒng)的要求,采用TwinCAT PLC Control內(nèi)置人機(jī)界面功能設(shè)計(jì)界面對(duì)PLC參數(shù)進(jìn)行監(jiān)控,利用TwinCAT Scope View和Scope 2示波器分別觀察字符運(yùn)行軌跡和兩軸的動(dòng)態(tài)參數(shù),最終驗(yàn)證EtherCAT技術(shù)在多軸伺服控制領(lǐng)域的優(yōu)勢(shì)。
[Abstract]:With the development of industrial automation, multi-axis servo control system has become indispensable in CNC system, reconfigurable manufacturing system, flexible manufacturing system and various new manufacturing systems. The requirements of reliability are becoming more and more stringent, but the traditional fieldbus can not meet the requirements, industrial Ethernet emerges as the times require. Among the many industrial ethernet, the real-time industrial Ethernet EtherCAT, which was introduced by German BECKHOFF in 2003, has the characteristics of high speed, high efficiency, good real-time, flexible topology, wide applicability, maximum support for 65535 devices, etc. In the world wide attention and application. In this paper, a multi-axis servo control system test platform is built to study the real-time, reliability and stability of the servo system when the industrial Ethernet EtherCAT controls multiple servo motors. The main work of this paper is as follows: 1. Firstly, the development process of industrial control network from fieldbus to real-time Ethernet is summarized, and several kinds of real-time industrial Ethernet: EtherCAT,Ethernet Powerlink,PROFINET,Ethemet/IP. are introduced and compared. The realization method of multi-axis servo system based on EtherCAT in reconfigurable die is simulated by MATLAB. 2. A test platform of multi-axis servo system based on EtherCAT is designed and built. The scheme of servo control system which uses computer with TwinCAT software as main station, EK1100 and two servo drivers as slave station and drives load motion through two vertical KK modules is determined. The slave station is configured and debugged by the TwinCAT software of Beifu Company, the parameters of servo motor are configured and debugged, and the NC file and PLC program are written according to the specified character trajectory to realize the cooperative motion of two axes in the plane. The real-time data of Y axis is collected and saved to EXCEL table. 4. According to the requirement of control system, the design circle of TwinCAT PLC Control built-in man-machine interface function is used to monitor and control the parameters of PLC. The TwinCAT Scope View and Scope 2 oscilloscopes are used to observe the character track and the dynamic parameters of the two axes respectively. Finally, the advantages of the EtherCAT technology in the field of multi-axis servo control are verified.
【學(xué)位授予單位】：天津科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：TP273

【參考文獻(xiàn)】

相關(guān)期刊論文 前9條

1 張明華;;光電式接近開關(guān)在起重機(jī)械行程限位上的運(yùn)用[J];科技創(chuàng)新與應(yīng)用;2013年04期

2 m平;周建華;陳林;申曉園;;基于TwinCAT的純PC型數(shù)控系統(tǒng)的開發(fā)[J];機(jī)械制造與自動(dòng)化;2011年01期

3 覃德澤;;CSMA/CD在DSP上的仿真研究[J];煤炭技術(shù);2010年12期

4 林芳;;Bézier曲線的光滑拼接[J];渭南師范學(xué)院學(xué)報(bào);2010年05期

5 陳婷;宋愛平;王樹峰;王召壘;;模具可重構(gòu)技術(shù)與桿系柔性成形模具[J];模具技術(shù);2007年05期

6 馮冬芹;金建祥;褚健;;工業(yè)以太網(wǎng)與實(shí)時(shí)以太網(wǎng)協(xié)議剖析[J];可編程控制器與工廠自動(dòng)化;2005年01期

7 葉莘;Ethernet Powerlink—實(shí)時(shí)的工業(yè)以太網(wǎng)[J];自動(dòng)化博覽;2004年04期

8 ;實(shí)時(shí)以太網(wǎng):I/O層超高速以太網(wǎng)[J];自動(dòng)化博覽;2004年04期

9 趙軍;馬瑞;;板材成形新技術(shù)及其發(fā)展趨勢(shì)(Ⅱ)[J];金屬成形工藝;2003年02期

相關(guān)博士學(xué)位論文 前1條

1 陳磊;從現(xiàn)場(chǎng)總線到工業(yè)以太網(wǎng)的實(shí)時(shí)性問題研究[D];浙江大學(xué);2004年

相關(guān)碩士學(xué)位論文 前10條

1 王瑋;永磁交流伺服系統(tǒng)網(wǎng)絡(luò)化多軸驅(qū)動(dòng)的關(guān)鍵技術(shù)研究[D];浙江理工大學(xué);2015年

2 任計(jì)羽;EtherCAT從站軟件的設(shè)計(jì)與實(shí)現(xiàn)[D];中國(guó)科學(xué)院研究生院（光電技術(shù)研究所）;2014年

3 高威;基于PLC的鋼坯標(biāo)識(shí)三軸協(xié)同運(yùn)動(dòng)控制系統(tǒng)的研究[D];天津科技大學(xué);2013年

4 楊昊佐;工業(yè)以太網(wǎng)EtherCAT從站設(shè)計(jì)[D];西安電子科技大學(xué);2013年

5 王磊;EtherCAT系統(tǒng)無(wú)線時(shí)鐘同步方案研究[D];西安電子科技大學(xué);2013年

6 吳云;基于以太網(wǎng)的多軸運(yùn)動(dòng)控制系統(tǒng)研究[D];浙江工業(yè)大學(xué);2012年

7 張根華;實(shí)時(shí)以太網(wǎng)EtherCAT網(wǎng)絡(luò)研究及在多軸運(yùn)動(dòng)中的應(yīng)用[D];南昌航空大學(xué);2012年

8 黎妞;基于EtherCAT的伺服運(yùn)動(dòng)控制系統(tǒng)研究[D];武漢科技大學(xué);2012年

9 阮倩茹;基于EtherCAT網(wǎng)絡(luò)的高性能伺服控制系統(tǒng)研究[D];湖南大學(xué);2011年

10 伍一帆;實(shí)時(shí)以太網(wǎng)EtherCAT協(xié)議的研究[D];浙江工業(yè)大學(xué);2009年

，

本文編號(hào)：2311227