基于EtherCAT总线的多轴运动控制系统研究与开发

发布时间：2018-07-04 22:45

本文选题：运动控制系统 + 工业以太网　；参考：《广东工业大学》2017年硕士论文

【摘要】：运动控制系统是数控装备实现精密加工的关键设备。随着工业自动化技术的不断发展,网络化、智能化和柔性化的运动控制系统成为未来的发展趋势。传统的基于现场总线技术的运动控制系统已不能满足需求,工业以太网以其实时性强、通信容量大、开放性好等优点逐步被广泛应用于运动控制系统当中。EtherCAT工业以太网因其通信速度快、可靠性高以及同步性好而备受青睐。本文将EtherCAT实时工业以太网技术引入多轴运动控制系统当中,在深入研究多轴运动控制技术和EtherCAT网络技术的基础上,进行了从站运动控制器软硬件开发,设计了EtherCAT主站数控软件。运动控制系统在通过一系列测试后,成功应用在数控转塔冲床上。论文主要研究内容和成果如下:1.研究了运动控制系统在国内外的发展现状,在比较了主流的实时工业以太网后,采用EtherCAT以太网来实现控制系统内部的通信。对EtherCAT协议进行了深入研究,提出了运动控制系统总体的设计方案,又分别设计了控制系统硬件和软件方案。2.选用无风扇的工业PC机作为控制主站,详细设计了从站运动控制器的EtherCAT通信电路、ARM控制电路、伺服接口电路以及电源电路,在完成PCB板的布局布线后成功开发出控制器样机。3.在主站PC机软件部分,改造了linux实时性、安装了EtherCAT主站和Linux CNC、编写了数控界面。从站运动控制器软件部分完成了ARM主控制程序、ET1200通信程序、FSMC总线驱动以及加减速控制算法。实现了从G代码文件输入到控制轴精确定位的整套软件。4.在控制系统软硬件设计完成后,搭建了实验平台,进行了主从站之间的通信测试、控制系统的基本功能测试、G代码解释功能测试、圆弧插补功能测试以及多轴同步功能测试,在通过一系列实验测试后在LX230B型数控冲床上进行了高速点动实验,实现了预期的运动控制效果。运动控制系统总体测试结果达到设计要求,为进一步研究奠定了良好的基础。
[Abstract]:Motion control system is the key equipment for NC equipment to realize precision machining. With the development of industrial automation technology, networked, intelligent and flexible motion control system will become a trend in the future. The traditional motion control system based on fieldbus technology can not meet the needs of industrial Ethernet because of its strong real-time, large communication capacity, The advantages of good openness have been widely used in motion control systems. EtherCAT industrial Ethernet has been favored for its high communication speed, high reliability and good synchronization. In this paper, EtherCAT real-time industrial Ethernet technology is introduced into multi-axis motion control system. On the basis of deep research on multi-axis motion control technology and Ethernet network technology, hardware and software of slave station motion controller are developed, and EtherCAT master station numerical control software is designed. The motion control system is successfully applied to CNC turret punch after a series of tests. The main research contents and results are as follows: 1. The development of motion control system at home and abroad is studied. After comparing the mainstream real-time industrial Ethernet, EtherCAT Ethernet is used to realize the internal communication of the control system. In this paper, the EtherCAT protocol is deeply studied, and the overall design scheme of the motion control system is put forward, and the hardware and software schemes of the control system are designed respectively. The industrial PC without fan is selected as the main control station. The EtherCAT communication circuit, servo interface circuit and power supply circuit of the slave station motion controller are designed in detail. After the PCB layout and wiring is completed, the controller prototype .3is developed successfully. In the part of PC software of the master station, the real-time performance of linux is reformed, the EtherCAT master station and linux CNC are installed, and the NC interface is written. From the software of the station motion controller, the arm main control program, ET1200 communication program and FSMC bus drive and acceleration and deceleration control algorithm are completed. Realized from G code file input to the control axis accurate positioning software. 4. After the hardware and software design of the control system is finished, the experimental platform is built, the communication test between the master and slave stations, the basic function test of the control system, the code interpretation function test of the control system, the arc interpolation function test and the multi-axis synchronization function test are carried out. After a series of experimental tests, a high speed spot motion experiment was carried out on the LX230B CNC punch, and the desired motion control effect was achieved. The overall test results of the motion control system meet the design requirements and lay a good foundation for further research.
【学位授予单位】：广东工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273

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