基于xPC的实时仿真及控制系统的开发

发布时间：2018-02-28 03:08

本文关键词： 虚机实控 HIL xPC 实时仿真 Linux CNC EtherCAT　出处：《天津大学》2016年硕士论文　论文类型：学位论文

【摘要】：随着多体动力学、有限元分析、计算机图形学等技术的发展,虚拟样机技术被广泛应用于机电产品的开发,它能极大减少实体样机修改工作,缩短产品开发周期,降低产品研发成本,提高产品性能。但目前的大部分虚拟样机技术主要面向样机设计阶段的性能预估和优化,信息采集与反馈滞后,具有非实时性,无法有效评估样机测试与运行等产品实现阶段的性能。虚拟样机的实时仿真与测试技术能够有效解决上述问题,它通过硬件在环(HIL,Hardware in the Loop)等半物理仿真实验,获得所测试的机电产品运行时的性能数据,从而指导产品的优化和升级。基于国内外研究控制系统在环仿真的现状,本文提出了一种基于xPC的实时仿真及控制系统的设计方案。重点研究了多体系统的动力学建模、xPC实时仿真技术、EtherCAT主从站开发、EtherCAT周期性过程通信等内容。该方案利用Robotran等构建多体系统动力学模型,使模型能够在xPC实时仿真平台实时运行,并通过EtherCAT实时通信技术,使仿真模型能够与真实数控系统LinuxCNC之间完成实时的数据交换,从而实现数控系统的在环仿真。本文提出的方案是一套完备的虚机实控‖解决方案。首先,利用Robotran的动力学建模特性,构建出真实度较高的仿真模型,并与Simulink一起进行协同实时仿真,实现虚机‖的要求。其次,利用EtherCAT技术的特点,构建出实时通信的主从站。在运行x PC的目标机上添加带有ESC的KPA卡,使目标机成为从站;在运行Linux CNC的工控机上安装EtherCAT主站软件,使工控机成为主站。再次,开发EtherCAT主从站程序。在LinuxCNC中利用comp工具构建EtherCAT的HAL(Hardware Abstract Layer)通信模块,模拟主站;在Simulink中编写C语言的S函数,驱动从站工作。最后,编写PDO(Process Data Obeject)通信代码,实现了EtherCAT主从站之间的周期性PDO通信,符合数控系统与伺服驱动之间的通信要求。同时,本文还成功地进行了多体系统单轴的位置环控制试验。研究结果表明,本文开发的基于xPC的实时仿真及控制系统,能够用于多体系统和控制系统的开发与测试,实现了“虚机实控”。
[Abstract]:With the development of multi-body dynamics, finite element analysis, computer graphics and other technologies, virtual prototyping technology is widely used in the development of mechanical and electrical products. However, most of the virtual prototyping technologies are mainly oriented to the performance prediction and optimization of the prototype design stage, the information collection and feedback lag behind, and the virtual prototyping technology is non-real-time. The real-time simulation and test technology of virtual prototyping can effectively solve the above problems, and it can be solved effectively by semi-physical simulation experiments such as hardware in the Loop. etc. The performance data of the tested electromechanical products are obtained to guide the optimization and upgrading of the products. In this paper, a design scheme of real-time simulation and control system based on xPC is proposed. The dynamic modeling of multi-body system and the real-time simulation technology of EtherCAT are emphatically studied. The main and slave stations of EtherCAT develop the periodic process communication of EtherCAT. The dynamic model of multi-body system is constructed by using Robotran and so on. The model can run in real time on the xPC real-time simulation platform, and through the EtherCAT real-time communication technology, the simulation model can complete the real-time data exchange between the simulation model and the real NC system LinuxCNC. In order to realize in loop simulation of NC system, the scheme proposed in this paper is a set of complete solution of virtual machine real control. Firstly, the simulation model with high fidelity is constructed by using the dynamic modeling characteristics of Robotran. And with Simulink to carry out collaborative real-time simulation to meet the requirements of the virtual machine. Secondly, using the characteristics of EtherCAT technology, the master and slave station of real-time communication is constructed. The KPA card with ESC is added to the target computer running x PC to make the target machine become slave station. The software of EtherCAT master station is installed on the industrial control computer running LinuxCNC, so that the industrial control computer becomes the master station. Thirdly, the EtherCAT master station program is developed. In LinuxCNC, the HAL(Hardware Abstract layer communication module of EtherCAT is constructed by using the comp tool, and the main station is simulated, and the S function of C language is written in Simulink. Finally, the PDO(Process Data object) communication code is written to realize the periodic PDO communication between the master and slave stations of EtherCAT, which conforms to the communication requirements between CNC system and servo drive. The research results show that the real-time simulation and control system based on xPC can be used in the development and test of multi-body system and control system. Realized "virtual machine real control".
【学位授予单位】：天津大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP391.9;TP273

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