基于ARM-FPGA的EtherCAT总线多轴运动控制系统设计

发布时间：2018-11-03 14:08

【摘要】：当前,新一轮科技革命和产业变革正在发生,制造业正在向以设备互联通信为基础的智能制造发展。多轴运动控制系统作为工业自动化设备的重要组成部分,在各行业都有广泛的应用,EtherCAT总线具有实时性好、速度快、同步性高、开放性好、拓扑灵活、成本低等优点,特别适合网络化多轴运动控制系统的通信,因此,研究发展EtherCAT总线多轴运动控制技术对于提升自动化设备的性能,乃至于提高制造业的生产力水平具有重要意义。本文设计了一种基于ARM-FPGA的EtherCAT总线多轴运动控制系统。首先进行了方案设计,该系统主要由EtherCAT主站和从站运动控制板组成,运动控制板采用ARM+FPGA架构,可以控制6个运动轴,有32路数字量输入,16路数字量输出,带有EtherCAT总线和RS485总线接口。其次,选择了ARM和FPGA芯片,采用Altum Designer软件设计了ARM和FPGA的核心电路、供电电路以及外部接口电路的原理图,并据此设计了PCB版图,制作了运动控制板样板。然后,采用Verilog硬件描述语言设计了FPGA与ARM通信的FSMC模块、I/O控制模块及轴控制模块,在轴控制模块的设计中分析了目前常用的加减速算法的性能及硬件实现的可行性,在FPGA中硬件实现了直线和S形两种加减速算法,并进行了ModeSim仿真实验。最后,选择CoDeSys作为EtherCAT主站,并编写了运动控制板EtherCAT从站描述文件;对触摸屏进行了组态开发,设计了触摸屏界面,分配了Modbus协议通道;以及开发了运动控制板上ARM中运行的EtherCAT从站程序和Modbus通信程序,完成了系统软件设计。在上述软硬件设计开发的基础上,采用装有CoDeSys运行时系统的树莓派做主站搭建了一套EtherCAT总线运动控制系统,采用昆仑通态触摸屏搭建了一套RS485总线运动控制系统,并分别进行了功能实验。实验结果表明两套运动控制系统均可实现定位,点动等基本控制功能。此外,还将该系统做了应用测试,结果表明可以满足控制需求。本文设计的运动控制系统开放性好、网络化扩展性强、性能优越、成本低,在工业自动化设备中具有广阔的应用前景。
[Abstract]:At present, a new round of technological revolution and industrial revolution is taking place, and the manufacturing industry is developing to intelligent manufacturing based on equipment communication. As an important part of industrial automation equipment, multi-axis motion control system is widely used in various industries. EtherCAT bus has the advantages of good real-time, high speed, high synchronicity, good openness, flexible topology, low cost and so on. It is especially suitable for the communication of networked multi-axis motion control system. Therefore, the research and development of multi-axis motion control technology based on EtherCAT bus is of great significance to improve the performance of automation equipment and even to improve the productivity of manufacturing industry. A EtherCAT bus multi-axis motion control system based on ARM-FPGA is designed in this paper. The system is mainly composed of EtherCAT master station and slave station motion control board. The motion control board adopts ARM FPGA architecture, which can control 6 motion axes with 32 digital input and 16 digital output. With EtherCAT bus and RS485 bus interface. Secondly, ARM and FPGA chips are selected, the core circuits of ARM and FPGA are designed by Altum Designer software, the schematic diagram of power supply circuit and external interface circuit are designed, and the layout of PCB is designed accordingly, and the motion-control board template is made. Then, the FSMC module, I / O control module and axis control module of FPGA and ARM communication are designed by using Verilog hardware description language. In the design of axis control module, the performance of commonly used acceleration and deceleration algorithm and the feasibility of hardware implementation are analyzed. Two acceleration and deceleration algorithms, linear and S-shaped, are implemented in FPGA hardware, and ModeSim simulation experiments are carried out. Finally, CoDeSys is chosen as the EtherCAT master station, and the EtherCAT slave station description file of motion control board is written, the touch screen is configured, the touch screen interface is designed, and the Modbus protocol channel is allocated. The EtherCAT slave station program and Modbus communication program running in ARM on the motion control board are developed, and the system software design is completed. On the basis of the design and development of the hardware and software mentioned above, a set of EtherCAT bus motion control system is set up by using raspberry pie station with CoDeSys runtime system, and a set of RS485 bus motion control system is built by using Kunlun on-state touch screen. Functional experiments were carried out respectively. The experimental results show that the two motion control systems can realize the basic control functions such as location and point motion. In addition, the system is tested, and the results show that the system can meet the control requirements. The motion control system designed in this paper has the advantages of good openness, strong network expansibility, superior performance and low cost, so it has a broad application prospect in industrial automation equipment.
【学位授予单位】：青岛理工大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP273

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