基于EtherCAT的贴片机运动控制系统设计

发布时间：2018-10-25 18:46

【摘要】：随着表面贴装技术(简称SMT)逐渐发展成为现代电子制造业的主流技术,贴片机作为SMT生产线上的关键设备也得到快速发展。电子产品不断的更新发展驱动着组装技术的发展,组装技术则对组装工艺以及贴片机设备提出新的要求,即贴片机朝着更加智能化、精密化、高速化和多功能化方向发展,导致其运动控制结构也更加复杂。尤其是多头贴片机,其运动结构比较复杂,驱动电机数量多,传统板卡+并行连线的运动控制结构很难满足贴片机的运动控制要求。虽然现场总线技术和工业以太网技术快速发展,使得网络化已成为运动控制领域的发展趋势,但是由于贴片机所需伺服执行设备数量和种类都比较多,需要专门开发一种统一的网络化接口实现网络化连接。针对上述要求,本文基于EtherCAT技术,对贴片机的网络化多轴运动控制系统进行研究。对4头贴片机的运动结构及其对运动控制系统的要求进行分析,对运动控制系统的结构进行了总体规划,将12个轴的运动控制分为三类,每一类采用一个网络节点实现。针对EtherCAT网络结构的特点,对网络化运动控制的主节点和从节点单元做了规划设计。针对贴片机不同执行机构的特点要求,进行了电机选型,并结合电机控制信号的要求,对从节点的接口进行设计。对贴片机的运动控制策略进行研究,对贴片机的运动控制轨迹要求进行分析,针对高速、高精度点位控制的特点要求,对运动轨迹控制、电机的加减速控制策略等问题进行研究。然后对相关的软件进行规划设计,完成了网络通信报文规划、数据结构、工作流程等设计。对基于EtherCAT的贴片机运动控制系统进行了测试验证,实验证明上述运动控制系统的主从站之间通信良好,运动控制系统各运动模块能够按照控制指令正常运转,符合应用要求。
[Abstract]:With the development of surface mount technology (SMT) into the mainstream technology of modern electronic manufacturing industry, placement machine as the key equipment in SMT production line has been developed rapidly. The continuous development of electronic products drives the development of assembly technology, and assembly technology puts forward new requirements for assembly process and placement machine equipment, that is, the placement machine is developing towards more intelligent, precise, high-speed and multi-function. As a result, the motion control structure is more complex. In particular, the motion structure of multi-head placement machine is more complex and the number of driving motor is large. The traditional motion control structure of parallel connection of board card is difficult to meet the requirements of motion control of placement machine. Although the rapid development of fieldbus technology and industrial Ethernet technology makes the network has become a trend in the field of motion control, but due to the number and types of servo execution equipment required by the placement machine are more, It is necessary to develop a unified network interface to realize network connection. In order to meet the above requirements, this paper studies the networked multi-axis motion control system based on EtherCAT technology. In this paper, the motion structure of four mounting machines and the requirements of motion control system are analyzed, and the structure of motion control system is planned. The motion control of 12 axes is divided into three types, each of which is realized by a network node. According to the characteristics of EtherCAT network structure, the master node and slave node unit of networked motion control are programmed and designed. According to the characteristics of different actuator of placement machine, the selection of motor is carried out, and the interface of slave node is designed according to the requirement of motor control signal. The motion control strategy of the placement machine is studied, and the requirements of the motion control trajectory of the placement machine are analyzed. According to the characteristics of high speed and high precision point position control, the motion trajectory control is carried out. The acceleration and deceleration control strategy of motor is studied. Then the related software is designed, and the network communication message planning, data structure, workflow and so on are completed. The motion control system of mounting machine based on EtherCAT is tested and verified. It is proved that the communication between master and slave stations of the motion control system is good, and the motion modules of the motion control system can run normally according to the control instructions, and meet the requirements of application.
【学位授予单位】：山东科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273

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