基于IEC61131标准的运动控制器研究与应用

发布时间：2018-05-12 23:23

本文选题：IEC61131标准 + 软PLC　；参考：《合肥工业大学》2017年硕士论文

【摘要】：随着数控机床和工业机器人的应用越来越多,人们逐渐意识到运动控制器在制造业中所具有的广阔前景。传统封闭式体系结构的运动控技术已无法满足现代制造业向信息化发展的要求,如今开放式运动控制技术已成为主流发展趋势。软PLC技术则是实现开放式运动控制系统的关键技术之一。另外,传统的运动控制编程语言由于其封闭的软件系统已无法适应开放式运动控制系统的发展要求。PLCopen标准定义的运动控制功能模块成为运动控制编程语言的标准,其可以使逻辑控制与运动控制的编程开发更好的结合。因此研究开放式运动控制技术具有重要的意义。所以本文以开发基于IEC61131标准和PLCopen规范的嵌入式开放运动控制器为研究重点,使用ARM Cortex A9芯片+Win CE系统为硬件平台、Multi Prog+Pro Con OS e CLR为软件平台、Ether CAT通讯协议为通讯标准。这样的搭配既能保证数据的及时处理与运算又能保证逻辑控制与运动控制同时进行。首先,介绍了课题的研究背景、现状和该课题所具有的重要的理论意义和实践意义,并对软PLC和运动控制的结合方法进行了阐述。其次,研究了运动控制和PLC结合后产生的运动控制编程方式--运动控制功能块。在详细研究了此类功能块的模型、规范和功能后,重点介绍本文已经实现了的功能块。再次,设计和搭建了符合IEC61131标准的开放式运动控制系统平台的,包括硬件平台选择、软件平台设计和通讯系统搭建。针对单轴运动控制的加减速设计,给出了详细的设计步骤和数学推导,并给出了仿真结果,说明本文所设计的算法的正确性。最后,给出了具体的功能块的程序实现和开发过程,包括状态机的实现、接口功能的实现、错误检测与处理机制的实现、运动程序任务执行过程的实现和使用eCLR开发通用功能块的过程。
[Abstract]:With the more and more applications of CNC machine tools and industrial robots, people are gradually aware of the broad prospects of the motion controller in the manufacturing industry. The traditional closed architecture motion control technology has not met the requirements of the modern manufacturing industry to the development of information technology. Now the open motion control technology has become the mainstream development trend. Soft PLC technology is one of the key technologies to realize the open motion control system. In addition, the traditional motion control programming language is unable to adapt to the development of the open motion control system because of its closed software system. The motion control function module defined by the.PLCopen standard is the standard of the motion control programming language. Logic control is better combined with the programming and development of motion control. Therefore, it is of great significance to study the open motion control technology. Therefore, this paper focuses on the development of embedded open motion controller based on IEC61131 standard and PLCopen specification, using ARM Cortex A9 chip + Win CE system as hardware platform, Multi Prog+Pro Con O The S e CLR is the software platform and the Ether CAT communication protocol is the communication standard. This collocation can not only guarantee the timely processing and operation of the data, but also guarantee the logic control and motion control. First, it introduces the research background, the present situation and the important theoretical and practical significance of the subject, and the soft PLC and motion control. The combination method of the system is expounded. Secondly, the motion control programming mode, motion control function block, which is produced by the combination of motion control and PLC, is studied. After studying the model, specification and function of this kind of functional block in detail, the function block is introduced in this paper. Again, the design and construction of the open mode conforming to the IEC61131 standard The platform of motion control system includes the selection of hardware platform, the design of software platform and the construction of communication system. In view of the acceleration and deceleration design of the single axis motion control, the detailed design steps and mathematical derivation are given, and the simulation results are given, and the correctness of the algorithm is illustrated. Finally, the program implementation of the specific function block is given. And the development process, including the realization of the state machine, the realization of the interface function, the realization of the error detection and processing mechanism, the implementation of the execution process of the sports program task and the process of using the eCLR to develop the general function block.

【学位授予单位】：合肥工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273

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