基于KRTS的总线式软运动控制平台设计及其实现

发布时间：2018-10-21 19:11

【摘要】：随着中国制造业的转型和升级,自动化设备的需求量将越来越大。运动控制器作为自动化设备的控制核心其需求量也将随着变大。为了适应目前越来越智能化、网络化、高速化以及多样化的自动化设备的发展,现代的运动控制器必须要有能集成各种传感器设备的能力,良好的网络通信能力,强大的计算能力,高可靠性,以及高度的开放性和易用性。然而目前国内大部分运动控制器存在网络通信能力不强,开放性不够,性价比不高,不能很好的集成各种传感器,特别是视觉传感器等问题,这就限制了我国装备制造业的发展。针对上述问题,本文基于德国Kithara公司的windows实时拓展套件KRTS设计了一种总线式软运动控制平台,给出了从运动控制程序开发端到运行端的一整套解决方案。该平台以IPC为硬件平台,以安装了 KRTS实时拓展套件的windows系统为软件平台,支持EtherCAT和EtherMAC总线接口,提供符合PLCopen规范的运动控制库、内核实时应用程序数据通信接口,以及图形化平台管理工具。此外设计的平台还能集成实时视觉功能,并支持用户对系统组件库的拓展。本文分别从平台实时以太网总线驱动设计及其封装集成,平台功能组件设计及实现,平台管理工具及其使用策略设计这三个方面阐述构建的总线式软运动控制平台关键技术。对于平台实时以太网总线驱动设计及其封装集成,为了说明在本文设计的运动控制平台下对其他KRTS未支持的总线驱动及其接口开发过程,设计了课题组自主研发的EtherMAC在设计的软运动控制平台下的驱动及其接口。同时为提高驱动接口的易用性,设计了一个主站驱动接口封装集成方法,并以应用最广泛的且KRTS支持的EtherCAT驱动接口为例,详细说明了驱动接口封装和集成的实现过程。平台功能组件的设计,其分为平台运动控制库设计以及平台数据通信方案及其接口设计。对于平台运动控制库的设计,为了方便用户使用,本文参照PLCopen运动控制规范构建平台运动控制库,并从运动控制功能块用户使用接口形式,虚拟轴CiA402数据接口,功能块的实现,以及运动控制算法等方面详细阐述了运动控制库设计方法。对于平台数据通信方案及接口的设计,本文分别设计了本地应用通信和远程应用通信方案,而后对远程通信方案的用户使用接口进行设计。对于平台管理工具的设计,本文主要从系统配置和状态管理,实时以太网总线资源管理,任务管理,全局资源管理以及用户实时应用管理这几个方面,对其设计的功能做详细介绍,并在这基础上设计了平台的使用策略。最后,本文通过一个五轴串联机器人应用项目,来验证设计的平台。此外还搭建了一个系统实时性测试平台,对系统定时器抖动进行测试,以此来验证系统的实时性能。
[Abstract]:With the transformation and upgrading of China's manufacturing industry, the demand for automation equipment will be increasing. As the control core of automatic equipment, the demand of motion controller will also increase. In order to adapt to the development of more and more intelligent, networked, high-speed and diversified automatic equipment, modern motion controller must have the ability to integrate all kinds of sensor devices, and good network communication ability. Strong computing power, high reliability, and high openness and ease of use. However, at present, most of the motion controllers in our country have some problems, such as the network communication ability is not strong, the openness is not enough, the ratio of performance to price is not high, and can't integrate all kinds of sensors, especially the vision sensor, and so on. This limits the development of China's equipment manufacturing industry. In order to solve the above problems, this paper designs a bus-type soft motion control platform based on KRTS, a real-time windows extension suite of Kithara Company in Germany, and presents a complete set of solutions from the development end to the running side of the motion control program. The platform takes IPC as hardware platform and windows system with KRTS real-time extension package as software platform, supports EtherCAT and EtherMAC bus interface, provides motion control library in accordance with PLCopen specification, and kernel real-time application program data communication interface. And graphical platform management tools. In addition, the platform can integrate real-time visual function, and support users to expand the system component library. This paper describes the key technologies of the platform soft motion control platform from three aspects: platform real-time Ethernet bus driver design and encapsulation integration, platform functional component design and implementation, platform management tool and its use strategy design. For the platform real-time Ethernet bus driver design and its encapsulation integration, in order to explain the development process of other KRTS unsupported bus driver and its interface under the motion control platform designed in this paper, The driver and interface of EtherMAC developed by our research group under the soft motion control platform are designed. In order to improve the ease of use of the driver interface, a master station driver interface encapsulation integration method is designed. Taking the most widely used EtherCAT driver interface supported by KRTS as an example, the implementation process of the driver interface encapsulation and integration is described in detail. The design of platform function component is divided into platform motion control library design, platform data communication scheme and its interface design. For the design of platform motion control library, in order to facilitate the user's use, this paper constructs the platform motion control library according to the PLCopen motion control specification, and from the motion control function block user uses the interface form, the virtual axis CiA402 data interface, the function block realization, The design method of motion control library is described in detail. For the design of platform data communication scheme and interface, this paper designs the local application communication and remote application communication respectively, and then designs the user interface of the remote communication scheme. For the design of platform management tools, this paper mainly includes system configuration and state management, real-time Ethernet bus resource management, task management, global resource management and user real-time application management. The design function of the platform is introduced in detail, and the use strategy of the platform is designed on this basis. Finally, this paper verifies the design platform through a five-axis series robot application project. In addition, a real-time testing platform is built to test the system timer jitter to verify the real-time performance of the system.
【学位授予单位】：山东大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273

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