基于以太网实时多轴运动控制研究与实现

发布时间：2018-12-06 19:26

【摘要】：近年来,随着工业技术的不断发展,生产自动化在实际工作生产过程中所占的比例也逐年上升。应用现场对数控设备的运动控制精度和灵活性等技术指标的要求也随之增高。目前广泛应用于工业的现场总线技术虽然也随着产业发展逐渐向分散化、网络化的方向发展,但是仍存在着标准过多、兼容性差、成本高、速度较低等问题。难以满足市场中对数控设备提出的高精度,高灵活性的要求。另外,随着网络技术兴起,网络技术受到了广泛的技术支持,得到了快速的发展。其应用广泛、标准统一,成本低、速度快的特点逐渐被人们认可。各大工业厂商也相继推出了基于网络技术所开发的实时工业以太网,并将其应用于数控设备运动控制中,实现全新工业控制现场对数控设备的各种技术要求。但是大部分的实时工业以太网标准会使用专用的网络芯片,开发成本较高。因此,开发一个实时高效并且能够实现高精度、高灵活性机械运动控制的运动控制方案是有必要的。本文在首先分析了传统的总线运动控制系统的在发展过程中存在的缺点结合以太网通讯技术的优点,提出了一种基于以太网通讯技术开发的实时运动控制方案。并对当前的网络通信技术进行深入研究,在UDP/IP通讯数据报的基础上重新设计了控制数据报的通讯格式,用于实现控制数据的有效传输与反馈。使用FPGA+PHY的设计结构实现数据实时传输通讯功能。在FPGA中对网络包进行解包与封包处理并实现应用数据的提取。使用提取后的数据生成轴体运动控制所需要的波形,实现轴体的运动控制。最后,使用该通讯报格式,进行控制数据的传输测试,并给出对应的实验结果。实验结果表明,该设计具有较强的实时性与稳定性,实现了设备的多轴运动控制,基本符合实际应用的需求,并且解决了现有实时通讯技术应用复杂,成本高等问题。为高性能的工业控制系统奠定了通讯技术的基础。
[Abstract]:In recent years, with the continuous development of industrial technology, the proportion of production automation in the actual production process has increased year by year. The requirement of motion control precision and flexibility of numerical control equipment in the application field is also increased. Field bus technology, which is widely used in industry, has been widely used in industry, although it has gradually developed towards decentralization and networking, but there are still some problems such as too many standards, poor compatibility, high cost, low speed and so on. It is difficult to meet the demand of high precision and high flexibility for CNC equipment in the market. In addition, with the rise of network technology, network technology has been widely supported and developed rapidly. Its wide application, uniform standard, low cost and fast speed are gradually recognized by people. Each major industrial manufacturer has also developed real-time industrial Ethernet based on network technology and applied it to the motion control of NC equipment to realize all kinds of technical requirements of the new industrial control field for CNC equipment. But most real-time industrial Ethernet standards use dedicated network chips, which are expensive to develop. Therefore, it is necessary to develop a real-time and efficient motion control scheme with high precision and flexibility. In this paper, firstly, the shortcomings of the traditional bus motion control system in the development process and the advantages of Ethernet communication technology are analyzed, and a real-time motion control scheme based on Ethernet communication technology is proposed. The communication format of the control Datagram is redesigned on the basis of the UDP/IP Datagram, which is used to realize the effective transmission and feedback of the control data. The design structure of FPGA PHY is used to realize the function of real-time data transmission and communication. In FPGA, the network packets are unpacked and packets are processed and the application data are extracted. The extracted data is used to generate the waveform needed for the axis motion control, and the axis motion control is realized. Finally, the control data transmission test is carried out using the format of the packet, and the corresponding experimental results are given. The experimental results show that the design has strong real-time and stability, realizes the multi-axis motion control of the equipment, basically meets the needs of practical application, and solves the problems of complex application and high cost of the existing real-time communication technology. It lays the foundation of communication technology for high performance industrial control system.
【学位授予单位】：哈尔滨理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273;TP393.11

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