基于EtherCAT多轴伺服控制系统的研究

发布时间：2018-11-04 21:44

【摘要】：随着工业自动化的发展,多轴伺服控制系统在数控系统,可重构制造系统,柔性制造系统以及各种新兴制造系统中变得不可或缺,多轴伺服控制系统对快速性、实时性、可靠性等的要求越来越苛刻,而传统的现场总线已经不能满足要求,工业以太网应运而生。在众多的工业以太网中,德国BECKHOFF公司于2003年推出的实时工业以太网EtherCAT因其高速高效,实时性好,灵活的拓扑结构,广泛的适用性,最大支持65535个设备等特性,在世界范围内得到了广泛的关注和应用。本课题搭建了多轴伺服控制系统试验平台,旨在研究工业以太网EtherCAT在控制多个伺服电机时,伺服系统本身的实时性、可靠性、稳定性。本文的主要工作如下:1、论文首先总结了工业控制网络由现场总线到实时以太网的发展过程,引出和比较了几种实时工业以太网:EtherCAT、Ethernet Powerlink、PROFINET、Ethemet/IP。运用MATLAB模拟了在可重构模具中,基于EtherCAT多轴伺服系统的实现方法。2、设计并搭建了一套基于EtherCAT的多轴伺服系统的试验平台。确定以装有TwinCAT软件的计算机作为主站,倍福总线耦合器EK1100和两伺服驱动器作为从站,通过两个互相垂直的KK模组带动负载运动的伺服控制系统方案。3、通过倍福公司的TwinCAT软件组态从站,配置和调试伺服电机参数,按照规定字符轨迹编写NC文件和PLC程序来实现平面内两轴协同运动,并能实时将X、Y轴的实时数据采集并保存到EXCEL表格中。4、根据控制系统的要求,采用TwinCAT PLC Control内置人机界面功能设计界面对PLC参数进行监控,利用TwinCAT Scope View和Scope 2示波器分别观察字符运行轨迹和两轴的动态参数,最终验证EtherCAT技术在多轴伺服控制领域的优势。
[Abstract]:With the development of industrial automation, multi-axis servo control system has become indispensable in CNC system, reconfigurable manufacturing system, flexible manufacturing system and various new manufacturing systems. The requirements of reliability are becoming more and more stringent, but the traditional fieldbus can not meet the requirements, industrial Ethernet emerges as the times require. Among the many industrial ethernet, the real-time industrial Ethernet EtherCAT, which was introduced by German BECKHOFF in 2003, has the characteristics of high speed, high efficiency, good real-time, flexible topology, wide applicability, maximum support for 65535 devices, etc. In the world wide attention and application. In this paper, a multi-axis servo control system test platform is built to study the real-time, reliability and stability of the servo system when the industrial Ethernet EtherCAT controls multiple servo motors. The main work of this paper is as follows: 1. Firstly, the development process of industrial control network from fieldbus to real-time Ethernet is summarized, and several kinds of real-time industrial Ethernet: EtherCAT,Ethernet Powerlink,PROFINET,Ethemet/IP. are introduced and compared. The realization method of multi-axis servo system based on EtherCAT in reconfigurable die is simulated by MATLAB. 2. A test platform of multi-axis servo system based on EtherCAT is designed and built. The scheme of servo control system which uses computer with TwinCAT software as main station, EK1100 and two servo drivers as slave station and drives load motion through two vertical KK modules is determined. The slave station is configured and debugged by the TwinCAT software of Beifu Company, the parameters of servo motor are configured and debugged, and the NC file and PLC program are written according to the specified character trajectory to realize the cooperative motion of two axes in the plane. The real-time data of Y axis is collected and saved to EXCEL table. 4. According to the requirement of control system, the design circle of TwinCAT PLC Control built-in man-machine interface function is used to monitor and control the parameters of PLC. The TwinCAT Scope View and Scope 2 oscilloscopes are used to observe the character track and the dynamic parameters of the two axes respectively. Finally, the advantages of the EtherCAT technology in the field of multi-axis servo control are verified.
【学位授予单位】：天津科技大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP273

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