基于CAN总线的新型可编程控制系统的研究与应用
摘要
20世纪末出现的现场总线,由于其具有全数字、全开放、高可靠性、实时性等一系列优秀的本质特点,为构成新一代全分布、数字化、网络化的工业测控系统奠定了基础,正在自动化邻域引起一次变革,已成为当今自动化领域技术发展的热点之一。
论文首先对控制系统发展历程进行了分析,结合我国控制系统的发展现状,在借鉴PLC的成功经验的基础上,从网络拓扑结构入手,将现场总线控制系统和可编程组态控制思想相结合,设计了一种全新的基于现场总线的可编程控制系统应用模型,实现将复杂的总线协议封装起来,提供给用户简单的可编程界面(指令编程和梯形图编程),使用户可以快速完成控制系统的组建工作,同时为先进的现场总线技术的推广应用提供了新的途径,适应控制系统的发展趋势。
讨论了现场总线控制系统的相关技术,并在借鉴当前各种现场总线控制系统结构模型的基础上,完成了系统的结构设计,并对系统的主体功能进行了规划,将系统中的各种节点依据不同的功能划分为监控节点、顺序控制节点和智能节点三种类型,对各种节点的功能进行了描述,并对系统的各种特性进行了分析,论述了系统的运行方式。
根据系统的功能规划,设计了基于CAN总线的系统应用层协议,实现了系统的可编程控制,论文对顺序控制节点、远程I/O节点和混合节点的软硬件设计方法进行了详细的论述。并且运用编译原理,实现了采用指令语言完成系统的控制程序输入,最后,结合相关厂家的情况,系统在发黑线的自动化改造工程进行了试验性的应用,并达到了预期的效果。
研究结果表明:这种基于现场总线的新型可编程控制系统既具有全分布、全数字化的特性,适应了控制系统的发展趋势,又具有很好的通用性和系统开发的简便性,有助于现场总线的推广应用,具有很好的实用价值。
The fieldbus arised in the end of the 20th century , established the foundation for new generation distributed, digital and networked industry control system, as a result of the characteristic of digital,opening and high reliability,high real time.it is arousing a change and is a focus in modern time in automatization domain.
In this paper ,firstly analyzed the development course of control system, linked the actuality of control system , based on the success experience of PLC, started with the network structure to expand,the fieldbus control system combined with the idea of programmable and configuration, We proposed a new programmable control system application model which is based on fieldbus,and it enveloped the complicated fieldbus protocol,provided the user with simple programme method (injunction programme or echelon chart programme). So the user can integrate fleetly a control system,and it is helpful to extend the application of advanced fieldbus technology and meet the development direction of control system.
Discussed the technology involved in the fieldbus control system and by consulting the several kinds of structure models of fieldbus control system, finished the design of system structure,and mark out the main function of system, divided the node into three kinds,as supervise node, sequence control node and capacity node,and described the function of them.analyzed the system characteristic and stated the system running manner.
According to the system function layout,designed the application layer protocol ,realization the programme control, explained in detail the method to accomplish the software and hardware designment of nodes. Realization the program input by use instruction language based on the translate and edit principle, lastly according to the requirement of factory ,we accomplished the first try for automatization rebuilding of ChangDe spin mechanism factory with the system,and get a good effect.
The research demonstrates that this system have distributed and digital characteristic, meet the requirement of control system ,as well as have good common and simpleness for system exploitation, it is helpful for the system extending use ,so it has good practicality.
论文首先对控制系统发展历程进行了分析,结合我国控制系统的发展现状,在借鉴PLC的成功经验的基础上,从网络拓扑结构入手,将现场总线控制系统和可编程组态控制思想相结合,设计了一种全新的基于现场总线的可编程控制系统应用模型,实现将复杂的总线协议封装起来,提供给用户简单的可编程界面(指令编程和梯形图编程),使用户可以快速完成控制系统的组建工作,同时为先进的现场总线技术的推广应用提供了新的途径,适应控制系统的发展趋势。
讨论了现场总线控制系统的相关技术,并在借鉴当前各种现场总线控制系统结构模型的基础上,完成了系统的结构设计,并对系统的主体功能进行了规划,将系统中的各种节点依据不同的功能划分为监控节点、顺序控制节点和智能节点三种类型,对各种节点的功能进行了描述,并对系统的各种特性进行了分析,论述了系统的运行方式。
根据系统的功能规划,设计了基于CAN总线的系统应用层协议,实现了系统的可编程控制,论文对顺序控制节点、远程I/O节点和混合节点的软硬件设计方法进行了详细的论述。并且运用编译原理,实现了采用指令语言完成系统的控制程序输入,最后,结合相关厂家的情况,系统在发黑线的自动化改造工程进行了试验性的应用,并达到了预期的效果。
研究结果表明:这种基于现场总线的新型可编程控制系统既具有全分布、全数字化的特性,适应了控制系统的发展趋势,又具有很好的通用性和系统开发的简便性,有助于现场总线的推广应用,具有很好的实用价值。
The fieldbus arised in the end of the 20th century , established the foundation for new generation distributed, digital and networked industry control system, as a result of the characteristic of digital,opening and high reliability,high real time.it is arousing a change and is a focus in modern time in automatization domain.
In this paper ,firstly analyzed the development course of control system, linked the actuality of control system , based on the success experience of PLC, started with the network structure to expand,the fieldbus control system combined with the idea of programmable and configuration, We proposed a new programmable control system application model which is based on fieldbus,and it enveloped the complicated fieldbus protocol,provided the user with simple programme method (injunction programme or echelon chart programme). So the user can integrate fleetly a control system,and it is helpful to extend the application of advanced fieldbus technology and meet the development direction of control system.
Discussed the technology involved in the fieldbus control system and by consulting the several kinds of structure models of fieldbus control system, finished the design of system structure,and mark out the main function of system, divided the node into three kinds,as supervise node, sequence control node and capacity node,and described the function of them.analyzed the system characteristic and stated the system running manner.
According to the system function layout,designed the application layer protocol ,realization the programme control, explained in detail the method to accomplish the software and hardware designment of nodes. Realization the program input by use instruction language based on the translate and edit principle, lastly according to the requirement of factory ,we accomplished the first try for automatization rebuilding of ChangDe spin mechanism factory with the system,and get a good effect.
The research demonstrates that this system have distributed and digital characteristic, meet the requirement of control system ,as well as have good common and simpleness for system exploitation, it is helpful for the system extending use ,so it has good practicality.
引文
[1] 雷霖.现场总线控制网络技术.北京:电子工业出版社 2004.
[2] 白焰,吴鸿,杨国田.分散控制系统与现场总线控制系统.北京:中国电力出版社,2001.
[3] 阳宪惠.现场总线技术及应用.北京:清华人学出版社,1999.
[4] 饶运涛,邹继军,等.现场总线CAN原理与应用技术.北京:北京航空航天大学出版社,2002.
[5] Philip公司.CAN Specification 2.0 part B .CAN in Automation.Am.1999.
[6] 郭宗仁,吴亦锋.可编程序控制器及其通信网络技术 人民邮电出版社1999.
[7] 王常力,廖道文.集散型控制系统的设计与应用.北京:清华大学出版社,1993.
[8] 马国华.监控组态软件及其应用.北京:清华大学出版社,2003.
[9] 袁任光.集散型控制系统应用技术与实例.北京:机械工业出版社,2003.
[10] OPC Foundation. Data Access Automation Interface Standard Version 2.02. 1999.
[11] OPC Foundation. Data Access Custom Interface Specification 3.0,2003.
[12] 刘炳文. Visual Basic 6.0程序设计—ActiveX篇.北京:人民邮电出版社,1999.
[13] 邬宽明.CAN总线原理和应用系统设计.北京:北京航空航天大学出版社,1996.
[14] Data Sheet P8xC591. Philips Semiconductors, 2000.
[15] CAN Specification Version 2.0, Parts A and B, Philips Semiconductors, 1992.
[16] Philip Company. PCA82C250 High Speed CAN transceiver. Data Sheet. 1997.
[17] Philip公司.完全替换PCA82C250 的TJA1040 高速CAN 总线收发器.
[18] Philips Semiconductors. SJA 1000 Stand-alone CAN Controller. Data Sheet. 2000.
[19] 周立功,等.增强型80C51单片机速成与实战. 北京:北京航空航天大学出版社,2003.
[20] 廖裕评,陆瑞强.CPLD数字电路设计.北京:清华大学出版社,2001.
[21] 胡晓娅,朱德森,汪秉文。网络控制系统时延综述.http://www.paper.edu.cn。
[22] 邬宽明.现场总线技术应用选编.北京:北京航空航天大学出版社.2003.
[23] 杨公源.可编程控制器(PLC)原理与应用.北京:电子工业出版社 2004.
[24] 高钦和.可编程控制器应用技术与设计实例. 北京:人民邮电出版社,2004.
[25] Eric A.Smith,Valor Whisler,Hank Marquis(将洪军,等译). Visual Basic 6宝典.北京:电子工业出版社,1999.
[26] 何立民.单片机应用系统设计.北京:北京肮空航天大学出版社.1990.
[27] 侯志林.过程控制与自动化仪表.北京:机械工业出版社.2000.
[28] 徐爱钧,彭秀华.单片机高级语言C51Windows环境编程与应用.北京:电子工业出版社,2001.
[29] 王福瑞,单片微机测控系统设计大全.北京.北京航天航空大学出版社,1998.
[30] 胡汉才.单片机原理及其接口技术. 北京:清华大学出版社,1996.
[31] 李东江,张大成。汽车车载网络系统(CAN-BUS)原理与检修. 北京:机械工业出版社,2005.
[32] 吕映芝,张素琴,蒋维杜. 编译原理. 北京: 清华大学出版社, 1998.
[33] 侯文永, 张冬茉。 编译原理. 北京: 电子工业出版社, 2002.
[34] 孙悦红. 编译原理及实现. 北京: 清华大学出版社, 2005.
[35] 郑文波. 控制网络技术. 北京: 清华大学出版社, 2001.
[36] 王忠勇等. 系统分析与控制. 武汉: 武汉理工大学出版社, 2003.
[37] 王枞. 控制系统理论及应用. 北京: 北京邮电大学出版社, 2005.
[38] 王幸之,王雷等. 单片机应用系统抗干扰技术. 北京:北京航空航天大学出版社.2000.
[39] 史久根,张培仁,陈真勇.CAN现场总线系统设计技术.北京:国防工业出版社,2004.
[40] Philip公司,CAN physical layer for industrial Applications.1992.
[41] Hasnaoui, S.; Kallel, O.; Kbaier, R.; Ahmed, S.B. An implementation of a proposed modification of CAN protocol on CAN fieldbus controller component for supporting a dynamic priority policy. Industry Applications Conference, 2003. 38th IAS Annual Meeting. Conference Record of the Volume 1, 12-16 Oct. 2003.
[42] Pinho, L.M.; Vasques, F.; Reliable real-time communication in CAN networks. Computers, IEEE Transactions on.Volume 52, Issue 12, Dec. 2003.
[43] Obermaisser,R.CAN emulation in a time-triggered environment. Industrial Electronics, 2002. ISIE 2002. Proceedings of the 2002 IEEE International Symposium on Volume 1, 8-11 July 2002.
[44] Reorda, M.S.; Violante, M. On-line analysis and perturbation of CAN networks. Defect and Fault Tolerance in VLSI Systems, 2004. DFT 2004. Proceedings. 19th IEEE International Symposium on 10-13 Oct. 2004.
[45] Nolte,T.; Nolin, M.; Hansson,H.A..Real-Time Server-Based Communication With CAN .Industrial Informatics, IEEE Transactions on Volume 1, Issue 3, Aug.2005.
[46] Hong, S.H.; Kim, W.-H.; Bandwidth allocation scheme in CAN .protocol Control Theory and Applications, IEE Proceedings-Volume 147, Issue 1,Jan. 2000.
[47] Cena, G.; Valenzano, A..A distributed mechanism to improve fairness in CAN networks. Factory Communication Systems, 1995. WFCS '95, Proceedings., 1995 IEEE International Workshop on 4-6 Oct. 1995.
[48] Hasnaoui, S.; Bouallegue, A.. A proposal modification of CAN protocol to support a dynamic priority policy being able to be implemented on CAN fieldbus controller components .Industry Applications Conference, 2000. Conference Record of the 2000 IEEE Volume 2, 8-12 Oct. 2000.
[2] 白焰,吴鸿,杨国田.分散控制系统与现场总线控制系统.北京:中国电力出版社,2001.
[3] 阳宪惠.现场总线技术及应用.北京:清华人学出版社,1999.
[4] 饶运涛,邹继军,等.现场总线CAN原理与应用技术.北京:北京航空航天大学出版社,2002.
[5] Philip公司.CAN Specification 2.0 part B .CAN in Automation.Am.1999.
[6] 郭宗仁,吴亦锋.可编程序控制器及其通信网络技术 人民邮电出版社1999.
[7] 王常力,廖道文.集散型控制系统的设计与应用.北京:清华大学出版社,1993.
[8] 马国华.监控组态软件及其应用.北京:清华大学出版社,2003.
[9] 袁任光.集散型控制系统应用技术与实例.北京:机械工业出版社,2003.
[10] OPC Foundation. Data Access Automation Interface Standard Version 2.02. 1999.
[11] OPC Foundation. Data Access Custom Interface Specification 3.0,2003.
[12] 刘炳文. Visual Basic 6.0程序设计—ActiveX篇.北京:人民邮电出版社,1999.
[13] 邬宽明.CAN总线原理和应用系统设计.北京:北京航空航天大学出版社,1996.
[14] Data Sheet P8xC591. Philips Semiconductors, 2000.
[15] CAN Specification Version 2.0, Parts A and B, Philips Semiconductors, 1992.
[16] Philip Company. PCA82C250 High Speed CAN transceiver. Data Sheet. 1997.
[17] Philip公司.完全替换PCA82C250 的TJA1040 高速CAN 总线收发器.
[18] Philips Semiconductors. SJA 1000 Stand-alone CAN Controller. Data Sheet. 2000.
[19] 周立功,等.增强型80C51单片机速成与实战. 北京:北京航空航天大学出版社,2003.
[20] 廖裕评,陆瑞强.CPLD数字电路设计.北京:清华大学出版社,2001.
[21] 胡晓娅,朱德森,汪秉文。网络控制系统时延综述.http://www.paper.edu.cn。
[22] 邬宽明.现场总线技术应用选编.北京:北京航空航天大学出版社.2003.
[23] 杨公源.可编程控制器(PLC)原理与应用.北京:电子工业出版社 2004.
[24] 高钦和.可编程控制器应用技术与设计实例. 北京:人民邮电出版社,2004.
[25] Eric A.Smith,Valor Whisler,Hank Marquis(将洪军,等译). Visual Basic 6宝典.北京:电子工业出版社,1999.
[26] 何立民.单片机应用系统设计.北京:北京肮空航天大学出版社.1990.
[27] 侯志林.过程控制与自动化仪表.北京:机械工业出版社.2000.
[28] 徐爱钧,彭秀华.单片机高级语言C51Windows环境编程与应用.北京:电子工业出版社,2001.
[29] 王福瑞,单片微机测控系统设计大全.北京.北京航天航空大学出版社,1998.
[30] 胡汉才.单片机原理及其接口技术. 北京:清华大学出版社,1996.
[31] 李东江,张大成。汽车车载网络系统(CAN-BUS)原理与检修. 北京:机械工业出版社,2005.
[32] 吕映芝,张素琴,蒋维杜. 编译原理. 北京: 清华大学出版社, 1998.
[33] 侯文永, 张冬茉。 编译原理. 北京: 电子工业出版社, 2002.
[34] 孙悦红. 编译原理及实现. 北京: 清华大学出版社, 2005.
[35] 郑文波. 控制网络技术. 北京: 清华大学出版社, 2001.
[36] 王忠勇等. 系统分析与控制. 武汉: 武汉理工大学出版社, 2003.
[37] 王枞. 控制系统理论及应用. 北京: 北京邮电大学出版社, 2005.
[38] 王幸之,王雷等. 单片机应用系统抗干扰技术. 北京:北京航空航天大学出版社.2000.
[39] 史久根,张培仁,陈真勇.CAN现场总线系统设计技术.北京:国防工业出版社,2004.
[40] Philip公司,CAN physical layer for industrial Applications.1992.
[41] Hasnaoui, S.; Kallel, O.; Kbaier, R.; Ahmed, S.B. An implementation of a proposed modification of CAN protocol on CAN fieldbus controller component for supporting a dynamic priority policy. Industry Applications Conference, 2003. 38th IAS Annual Meeting. Conference Record of the Volume 1, 12-16 Oct. 2003.
[42] Pinho, L.M.; Vasques, F.; Reliable real-time communication in CAN networks. Computers, IEEE Transactions on.Volume 52, Issue 12, Dec. 2003.
[43] Obermaisser,R.CAN emulation in a time-triggered environment. Industrial Electronics, 2002. ISIE 2002. Proceedings of the 2002 IEEE International Symposium on Volume 1, 8-11 July 2002.
[44] Reorda, M.S.; Violante, M. On-line analysis and perturbation of CAN networks. Defect and Fault Tolerance in VLSI Systems, 2004. DFT 2004. Proceedings. 19th IEEE International Symposium on 10-13 Oct. 2004.
[45] Nolte,T.; Nolin, M.; Hansson,H.A..Real-Time Server-Based Communication With CAN .Industrial Informatics, IEEE Transactions on Volume 1, Issue 3, Aug.2005.
[46] Hong, S.H.; Kim, W.-H.; Bandwidth allocation scheme in CAN .protocol Control Theory and Applications, IEE Proceedings-Volume 147, Issue 1,Jan. 2000.
[47] Cena, G.; Valenzano, A..A distributed mechanism to improve fairness in CAN networks. Factory Communication Systems, 1995. WFCS '95, Proceedings., 1995 IEEE International Workshop on 4-6 Oct. 1995.
[48] Hasnaoui, S.; Bouallegue, A.. A proposal modification of CAN protocol to support a dynamic priority policy being able to be implemented on CAN fieldbus controller components .Industry Applications Conference, 2000. Conference Record of the 2000 IEEE Volume 2, 8-12 Oct. 2000.