基于Powerlink的网络化交流伺服系统的研究

发布时间：2018-07-12 09:47

本文选题：Ethernet + Powerlink　；参考：《山东大学》2014年硕士论文

【摘要】：当前,使用实时工业以太网组建网络化交流伺服系统是目前工业自动化应用领域的流行趋势,各大知名工业自动化设备制造商纷纷推出了基于实时以太网的网络化伺服系统,研究基于网络的交流伺服系统具有重要意义,实时以太网Powerlink已经在实践中经过了验证,因而Powerlink成为了本文网络化交流伺服系统的首选。本文所实现的基于Powerlink的网络化交流伺服系统,主要分为主站和从站两个层次。其中,从站主要由带有Powerlink通信接口的交流伺服驱动器和交流伺服电机组成,主站采用贝加莱X20系列控制器实现,通过网线连接成直线型结构。首先,本文详细阐述了从站的具体实现。从站的实施分为四个方面。首先,从站采用了Powerlink源码,使用Powerlink源码组建了通信模块。其次,在从站中实现了标准IEC61800-7。这一标准是运动控制标准,本文主要参考了其关于CiA402类型的运动行规,从而为从站建立了统一的伺服运动接口,并且实现了电源驱动状态机。本文的控制模式采用了循环同步位置模式。再次,对系统进行了同步性补偿,同步性补偿主要是固定延迟补偿。通过延迟补偿,提高了系统的同步性能。最后,为从站编写了XDD设备描述文件,XDD文件主要作用是为主站提供了从站信息参考。其次,介绍了主站的具体实现。主站的实施采用的X20系列型号为CP1484的控制器。主站使用了贝加莱Automation Studio开发平台,并根据ACP10软件的工作原理,本文研发了主站控制程序,主要包括三个方面：基于SDC(Smart Device Controller)的实轴接口的实现,为系统添加的基于IEC61800-7的电机库,能够执行运动控制的伺服驱动应用程序。其中,SDC是贝加莱提供一个接口,可用于开发连接其他品牌的伺服驱动的接口；主站中需要实现IEC61800-7电机库,才能与使用同一标准的从站建立运动关系。最后,本文分别使用了PC机和贝加莱控制器进行了测试。使用PC机做主站在Windows环境下测试了主从站通信,给出了测试结果。使用贝加莱控制器做主站,测试了主从站联合运动,给出了主-从站联合测试的结果。此外,还进行了多轴同步性试验,给出了同步性测试的结果,同步抖动约为1.945μs。
[Abstract]:At present, the use of real-time industrial Ethernet to build networked AC servo system is a popular trend in the field of industrial automation application. The famous manufacturers of industrial automation equipment have introduced a networked servo system based on real-time Ethernet. It is of great significance to study the AC servo system based on network. The real-time Ethernet Powerlink has been verified in practice, so Powerlink has become the first choice of the networked AC servo system in this paper. The networked AC servo system based on Powerlink is mainly divided into two levels: master station and slave station. The slave station is mainly composed of AC servo driver with Powerlink communication interface and AC servo motor. The main station is realized by using the series of controller of Begarle X20, and connected into a linear structure through the network. First of all, this paper describes the specific implementation of the slave station in detail. The implementation of the station is divided into four aspects. First of all, the station used Powerlink source code, using Powerlink source code to build the communication module. Secondly, the standard IEC 61800-7 is implemented in the slave station. This standard is a motion control standard. This paper mainly refers to the motion regulation of CiA402 type, and establishes a unified servo motion interface for slave station, and realizes the power drive state machine. The control mode of this paper adopts the cyclic synchronous position mode. Thirdly, the system is compensated for synchronization, which is mainly fixed delay compensation. The synchronization performance of the system is improved by delay compensation. Finally, the XDD device description file is written for the slave station. The main function of the XDD file is to provide the slave station information reference for the master station. Secondly, the realization of master station is introduced. The implementation of the main station uses the X 20 series controller CP1484. The master station uses the Automation Studio development platform, and according to the working principle of ACP10 software, this paper develops the master station control program, mainly includes three aspects: the realization of the real axis interface based on SDC, the motor library based on IEC61800-7 added to the system. A servo drive application capable of performing motion control. SDC is an interface provided by Begale, which can be used to develop servo drive interface connected to other brands. IEC61800-7 motor library is needed in the master station in order to establish a motion relationship with the slave station using the same standard. Finally, PC and Baigale controller are used to test. The communication between master and slave is tested in Windows environment with PC as master station, and the test results are given. The combined motion of master and slave stations is tested by using the Begale controller as master station, and the results of master slave station joint test are given. In addition, the multi-axis synchronicity test is carried out, and the results of synchronism test are given. The synchronous jitter is about 1.945 渭 s.
【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;TP393.11

【参考文献】