基于EtherCAT总线的多轴控制系统设计

发布时间：2018-04-20 03:04

本文选题：EtherCAT + 从站模块设计　；参考：《浙江大学》2017年硕士论文

【摘要】：多关节机器人在工业上已经得到了非常广泛的应用,并且以后会用在越来越多的其他领域。多轴控制系统作为多关节机器人的核心,发展也十分迅速。传统的多轴控制器体积比较庞大,扩展性不好。在工业4.0的时代,多轴控制系统也越来越智能,同时体积也在逐步减小,并且能够联网。EtherCAT现场总线是一种新兴工业实时以太网总线,经过多年的技术发展,在通讯速度,拓扑结构等领域已经具有非常独特的优势。本课题的工作主要是将EtherCAT现场总线技术应用在多轴控制系统中,利用其技术优势,进一步提高多轴控制器的扩展性和灵活性,使控制系统网络化。本课题首先分析了多轴控制系统的现状以及发展趋势,介绍了 EtherCAT现场总线技术,在此基础上,确立了多轴控制系统的开发架构以及开发方法。然后,课题设计完成了基于ET1100的通讯板。在此通讯板的基础上,使用STM32单片机作为EtherCAT应用层控制芯片,设计并完成了数字输入输出部分和模拟输入输出部分的软硬件。同时,为了达到工业现场的要求,设计着重考虑了安装的便利性,热插拔功能以及抗干扰性。接着,课题以实验室雕刻机为控制对象,以PC机作为EtherCAT主站,在主站上的TwinCAT软件中设计实现了雕刻机的正逆运动学算法,并设计实现人机界面。同时,课题使用ADS通讯接口与C#高级语言进行通讯,实现了数据的交互。为了更加方便实现人机交互,课题也基于.NET架构设计了人机界面,这样方便Windows平台对多轴系统的直接或者远程控制。最后,在雕刻机平台上对设计的多轴控制系统进行调试和实验,同时对多轴之间的同步性能进行测试,完成了雕刻机的单轴运动,点动运动,多轴联动以及示教运动,并且多轴之间的实时性在微秒级。
[Abstract]:Multi-joint robots have been widely used in industry and will be used in more and more other fields. As the core of multi-joint robot, multi-axis control system is developing rapidly. The traditional multi-axis controller is large in volume and poor in expansibility. In the era of industry 4.0, the multi-axis control system is becoming more and more intelligent and the volume is gradually decreasing, and the field bus can be connected to .EtherCAT field bus is a new industrial real-time Ethernet bus, after many years of technological development, in the communication speed, Topology and other fields have a very unique advantage. The main work of this paper is to apply the EtherCAT fieldbus technology to the multi-axis control system, and make use of its technical advantages to further improve the expansibility and flexibility of the multi-axis controller and make the control system networked. Firstly, the present situation and development trend of multi-axis control system are analyzed, and the EtherCAT fieldbus technology is introduced. Based on this, the development framework and method of multi-axis control system are established. Then, the communication board based on ET1100 is designed. On the basis of this communication board, the software and hardware of digital input and output part and analog input output part are designed and completed by using STM32 single chip computer as EtherCAT application layer control chip. At the same time, in order to meet the requirements of the industrial site, the installation convenience, hot-plug function and anti-interference are considered in the design. Then, taking the laboratory engraving machine as the control object and the PC as the EtherCAT master station, the paper designs and implements the forward and inverse kinematics algorithm of the engraving machine in the TwinCAT software of the master station, and designs and implements the man-machine interface. At the same time, the ADS communication interface is used to communicate with C # language, and the data exchange is realized. In order to realize human-computer interaction more conveniently, the human-machine interface is designed based on .NET architecture, which facilitates the direct or remote control of multi-axis system by Windows platform. Finally, the design of the multi-axis control system is debugged and tested on the engraving machine platform, and the synchronous performance between the multi-axes is tested. The single-axis motion, the point motion, the multi-axis linkage and the teaching motion of the engraving machine are completed. And the real-time between multi-axes is in microsecond.
【学位授予单位】：浙江大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273

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