基于CoDeSys和EtherMAC总线的运动控制平台设计
发布时间：2019-05-29 16:12
【摘要】：运动控制是工业控制和自动化的一个重要的方向。对运动控制的研究和应用涉及到数控加工、印刷、机器人、生产线自动化等领域,先进的运动控制技术能够有力的提升我国高技术制造领域的水平,对军工、航天乃至生产生活都有着巨大的推进作用。 传统的运动控制器从编程方式到硬件架构都不能符合现代制造系统的柔性和开放性要求。随着技术的发展和国际标准规范的制订,开放式、可重构的运动控制平台的研究成为运动控制技术向前发展的重要目标。 IEC61131标准规范的提出,统一了运动控制开发环境所使用的编程语言；PLCopen组织将运动控制功能标准化、模块化,建立了统一的运动控制功能交流平台。基于标准PC和标准操作系统的控制器软件实现更加解放了运动控制的束缚,使其摆脱了对专有硬件的依赖。工业实时以太网技术的发展也为开放式运动控制平台奠定了设备连接和通讯的基础。 CoDeSys是国际上广泛使用和研究的基于IEC61131-3的运动控制软件解决方案。EtherMAC工业实时以太网总线也是山东大学数控研究中心具有自主知识产权的工业以太网总线,具有很多成功应用的案例。 本文基于CoDeSys和EtherMAC工业实时以太网进行开放式运动控制平台的研究和设计。阐述了开放式运动控制的发展、IEC61131标准以及PLCopen标准,提出基于CoDeSys和EtherMAC实时以太网总线的运动控制平台的设计方案及CoDeSys编程环境与EtherMAC总线的一种同步机制；并且详细介绍了CoDeSys实时以太网接口库CmpEtherMAC和EtherMAC实时以太网通信库的设计和实现。最后以该平台开发的绕线机控制系统为例。验证了平台架构的有效性和可靠性和开发过程中的优势。
[Abstract]:Motion control is an important direction for industrial control and automation. The research and application of motion control are related to the fields of numerical control processing, printing, robot, production line automation and so on. the traditional motion controller can not meet the flexibility and openness of the modern manufacturing system from the programming mode to the hardware architecture, With the development of the technology and the development of the international standard, the research of the open and reconfigurable motion control platform becomes an important object of the forward development of the motion control technology According to the standard specification of IEC61131, the programming language used in the motion control development environment is unified. The PLCopen organization standardized and modularized the motion control function, and established a unified motion control function. The controller software based on the standard PC and the standard operating system liberates the restraint of the motion control to get rid of the proprietary hardware The development of industrial real-time Ethernet technology also provides the equipment connection and communication for the open motion control platform. Foundation of CoDeSys is based on IEC61131-3 motion control software widely used and researched in the world The EtherNet industrial real-time Ethernet bus is also an industrial Ethernet bus with independent intellectual property right in the NC research center of Shandong University, which has a lot of success The application of real-time Ethernet based on CoDeSys and EtherMAC is based on the open motion control. The development of the open motion control, the IEC61131 standard and the PLCopen standard are described. The design scheme of the motion control platform based on the CoDeSys and EtherMAC real-time Ethernet bus and the CoDeSys programming environment and the EtherMAC bus are put forward. A synchronization mechanism is presented, and the CoDeSys real-time Ethernet interface library, CmpEtherMAC and EtherMAC real-time Ethernet communication are described in detail. The design and implementation of the library. Take the machine control system as an example. The effectiveness and reliability and opening of the platform architecture are verified.
【学位授予单位】：山东大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TP273
本文编号：2488049
[Abstract]:Motion control is an important direction for industrial control and automation. The research and application of motion control are related to the fields of numerical control processing, printing, robot, production line automation and so on. the traditional motion controller can not meet the flexibility and openness of the modern manufacturing system from the programming mode to the hardware architecture, With the development of the technology and the development of the international standard, the research of the open and reconfigurable motion control platform becomes an important object of the forward development of the motion control technology According to the standard specification of IEC61131, the programming language used in the motion control development environment is unified. The PLCopen organization standardized and modularized the motion control function, and established a unified motion control function. The controller software based on the standard PC and the standard operating system liberates the restraint of the motion control to get rid of the proprietary hardware The development of industrial real-time Ethernet technology also provides the equipment connection and communication for the open motion control platform. Foundation of CoDeSys is based on IEC61131-3 motion control software widely used and researched in the world The EtherNet industrial real-time Ethernet bus is also an industrial Ethernet bus with independent intellectual property right in the NC research center of Shandong University, which has a lot of success The application of real-time Ethernet based on CoDeSys and EtherMAC is based on the open motion control. The development of the open motion control, the IEC61131 standard and the PLCopen standard are described. The design scheme of the motion control platform based on the CoDeSys and EtherMAC real-time Ethernet bus and the CoDeSys programming environment and the EtherMAC bus are put forward. A synchronization mechanism is presented, and the CoDeSys real-time Ethernet interface library, CmpEtherMAC and EtherMAC real-time Ethernet communication are described in detail. The design and implementation of the library. Take the machine control system as an example. The effectiveness and reliability and opening of the platform architecture are verified.
【学位授予单位】：山东大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TP273
【引证文献】
相关期刊论文 前1条
1 徐超;平雪良;鞠明华;;钢桶螺纹盖机器人旋紧控制系统[J];轻工机械;2016年06期
相关硕士学位论文 前3条
1 仲斐;集成车间管控功能的非标自动化控制系统开发平台关键技术研究[D];山东大学;2016年
2 周长城;基于EtherCAT的伺服控制系统研究和设计[D];浙江工业大学;2015年
3 刘瀚隆;沥青路面就地热再生复拌机测控系统设计[D];南京理工大学;2015年
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