面向网络化运动控制的实时以太网技术研究与实现

发布时间：2018-04-03 20:55

本文选题：多轴运动控制　切入点：RTX　出处：《南京航空航天大学》2014年硕士论文

【摘要】：制造装备产业作为当前国家重点发展的支柱产业，不仅是国家经济发展的支撑力量，更是衡量一个国家工业发展水平的重要标志。运动控制技术广泛应用于机电装备制造业，对制造业的发展水平具有举足轻重的作用。随着网络技术的普及和发展，将以太网作为通信方式用于运动控制系统，逐渐成为当今运动控制技术发展的一个重要方向。本文对基于以太网的分布式运动控制网络进行了系统研究，并将以太网通信与嵌入式技术应用于网络化运动控制系统中。本文选择Windows作为运动控制系统的上位机软件平台。针对Windows系统的非实时性，通过对RTX子实时系统RTSS的实时性和RT-TCP/IP协议数据传输时间延迟的分析，，提出使用Windows的实时扩展RTX解决系统和通信的实时性和稳定性的方案，可有效降低Windows平台下实时控制系统的设计和开发成本。针对主站与从站之间通过集线器连接的分布式网络化运动控制系统架构，研究了各轴之间网络节点的同步问题，引入Libpcap网络数据包嗅探器原理和机制，将从站网络适配器的工作模式设置为混杂模式，设计基于Libpcap的网络数据包嗅探器，制定实时同步以太网的报文结构，实现了各个网络节点之间的数据同步。结合上面的研究成果，完成了基于以太网通信技术和嵌入式技术的多轴运动控制系统的软件开发，包括Windows环境下RTX的实时应用开发，μC/OS-II在嵌入式系统中的移植，uIP移植，Libpcap在μC/OS-II中的实现，Sniffing的实现等。最后，在搭建的试验平台上对开发的控制系统进行数据传输测试，验证基于Windows实时扩展RTX平台的网络型多轴运动控制系统网络通信的可靠性。
[Abstract]:As the pillar industry of national key development, manufacturing equipment industry is not only the supporting force of national economic development, but also an important symbol to measure the level of a country's industrial development.Motion control technology is widely used in electromechanical equipment manufacturing industry, which plays an important role in the development of manufacturing industry.With the popularization and development of network technology, using Ethernet as a communication mode in motion control system has gradually become an important direction of motion control technology.In this paper, the distributed motion control network based on Ethernet is systematically studied, and Ethernet communication and embedded technology are applied to the networked motion control system.In this paper, Windows is chosen as the upper computer software platform of motion control system.Aiming at the non-real time of Windows system, through the analysis of the real time of RTSS and the time delay of data transmission of RT-TCP/IP protocol, the scheme of real time and stability of real time extended RTX system and communication based on Windows is put forward by analyzing the real time of RTSS and the time delay of RT-TCP/IP protocol data transmission.It can effectively reduce the design and development cost of real-time control system based on Windows platform.Aiming at the architecture of distributed networked motion control system connected by hub between master station and slave station, the synchronization of network nodes between each axis is studied, and the principle and mechanism of Libpcap network packet sniffer are introduced.The working mode of slave network adapter is set to hybrid mode, the network packet sniffer based on Libpcap is designed, the packet structure of real-time synchronous Ethernet is established, and the data synchronization among each network node is realized.Based on the above research results, the software development of multi-axis motion control system based on Ethernet communication technology and embedded technology is completed.It includes the development of real-time application of RTX in Windows environment, the transplantation of 渭 C/OS-II in embedded system and the realization of libpcap in 渭 C/OS-II.Finally, the data transmission test of the developed control system is carried out on the built test platform, and the reliability of network communication of the network multi-axis motion control system based on Windows real-time extended RTX platform is verified.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TP393.11;TP273

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