基于CAN总线的主从式数控系统通信的研究与实现
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摘要
随着现代制造业的飞速发展,普通数控系统(Computerized NumericalControl,CNC)在机械加工中的自动化程度不高,网络化缺乏等局限性日益突出,数控系统的功能扩展成为数控技术发展的一个重要方向,本项目研究的目的就是建立一种高可靠性、网络化、复合化的数控系统体系结构,使其更好的适应现代制造业网络化、集成化的发展趋势。
目前国内外对数控系统的研究主要是开发多轴联动数控系统,并取得了很多成果,但在我国,多轴联动数控系统的应用相对较少,占企业现有数控装备的70.1%是“普通型”和“经济型”数控机床,扩展应用在这些数控机床上的数控系统的功能具有非常实际的意义。同时由于微电子技术、通信技术、计算机技术的飞速发展,CAN(Controller Area Network,CAN)现场总线技术作为一种有效支持分布式控制和实时控制的串行通信局域网络,已广泛应用于控制系统之间的数据通信。因此本课题结合CAN总线技术,以KND-K1000MII型数控系统作为主数控系统,以KND-KOS系统作为从数控系统,设计基于CAN总线的主从式数控系统,即主数控系统在工作过程中通过CAN总线接口与从数控系统进行信息交换。
本文主要研究内容如下:
首先,在分析主从数控系统现有硬件和软件基础上,根据所要实现的功能,提出主从数控系统总件设计方案。
其次,选用STC89C516RD+单片机作为从数控系统控制芯片,仔细分析原有硬件电路中D/A输出模块,串口通信模块,存储器扩展模块,输入输出模块的设计原理,设计了CAN通信接口电路,并将所有电路模块融合为一体,运用PADS2005软件完成了电路板的原理图设计和PCB板设计,电路板做好后对电路中各个模块的功能均已调试成功。对系统硬件抗干扰技术方面应注意的问题进行了说明。
再次,在分析从数控系统软件设计的基础上,从功能模块化的角度分别实现了操作面板消息流程设计和CAN通信程序设计。研究了圆弧插补算法的实现和误差情况。CAN通信程序设计实现了CAN底层协议中的CAN总线控制器SJA1000的初始化、发送接收与中断处理程序设计,同时介绍了广州周立功单片机有限公司制定的应用层协议—iCAN协议。
最后,提出将主从数控系统应用到配链式刀库的加工中心的设计思想,分析了主从数控系统在加工中心中的各自的功能分配,解释了从数控系统作为链式刀库的定位轴的优势,阐述了主从数控系统的控制过程,分析了iCAN协议在该加工中心的帧结构和具体应用。
Along with rapid development of modern manufacture, the common numerical control systems (Computerized Numerical Control, CNC)don't take on high automatization at machine and they are lack of networking. Because of these limitations, the function expansion of numerical control systems becomes an important heading of numerical control technique development. The research purpose of the thesis is to establish a sort of CNC system architecture with high reliability, networking and high complex. This will make CNC systems to better adapt to the networking and integration development of modern manufacture.
At present, the CNC systems with linkage multi-axes are developed both here and abroad and a great many achievements are obtained. In our country, CNC systems with linkage multi-axes are used by relatively few people. Conventional type and economical type numerically-controlled machines account for 70.1% in numerical control equipments, so it has greatly actual meaning to broaden functions of CNC systems applied in CNC machine tools. At the same time, as a result of the rapid development of microelectronic technique, communication technology, computer technology. CAN(Controller Area Network, CAN)which supports serial communication local area network of distributed control and real-time control has been extensively used in datum communication of control systems. Therefore, combined with CAN Bus, principal and subordinate mode CNC systems are designed and in this thesis the KND-K1000MII type CNC system acts as principal CNC system and the KND-KOS type system acts as subordinate CNC system. The principal CNC system communicates with the subordinate CNC system through CAN bus interface. The dominant researches of the thesis are as follows:
First of all, on the foundation of analyses about hardware and software structure of principal and subordinate CNC systems, the whole design proposal of principal and subordinate CNC system is put forward according to all function demands.
Secondly, STC89C516RD+single chip is chosen as master chip of subordinate CNC system. After the careful analyses about D/A output module, serial port communication module, memory expansion module and I/O output module in inhere hardware circuit, CAN communication interface circuit is designed and all circuit modules are combined together. When the circuit board is accomplished by PADS2005 software, each modular function is debugged. The anti-interference technique problems of system hardware are illustrated.
Once again, on the basis of the analyses about software of subordinate CNC system, the flow design of message from operating panel, program design of interpolation algorithm and program design of CAN bus communication are realized according to modularity function. Initializing designing program of CAN bus controller SJA1000, sending and receiving programs and interrupt handling routines are detailedly carried out by C language in CAN bus communication design. iCAN protocol which is application layer protocol established by Guangzhou Zhiyuan Electronics CO., LTD. is introduced at the same time.
In the end, the assumption about applying principal and subordinate CNC systems in machine center with chain magazine is brought forward. The respective functions of principal and subordinate CNC systems in machine center are assigned. The superiority of subordinate CNC system as chain magazine is explained. The control process of principal and subordinate CNC systems is illustrated and the frame structure of iCAN protocol is applied in this machine center.
目前国内外对数控系统的研究主要是开发多轴联动数控系统,并取得了很多成果,但在我国,多轴联动数控系统的应用相对较少,占企业现有数控装备的70.1%是“普通型”和“经济型”数控机床,扩展应用在这些数控机床上的数控系统的功能具有非常实际的意义。同时由于微电子技术、通信技术、计算机技术的飞速发展,CAN(Controller Area Network,CAN)现场总线技术作为一种有效支持分布式控制和实时控制的串行通信局域网络,已广泛应用于控制系统之间的数据通信。因此本课题结合CAN总线技术,以KND-K1000MII型数控系统作为主数控系统,以KND-KOS系统作为从数控系统,设计基于CAN总线的主从式数控系统,即主数控系统在工作过程中通过CAN总线接口与从数控系统进行信息交换。
本文主要研究内容如下:
首先,在分析主从数控系统现有硬件和软件基础上,根据所要实现的功能,提出主从数控系统总件设计方案。
其次,选用STC89C516RD+单片机作为从数控系统控制芯片,仔细分析原有硬件电路中D/A输出模块,串口通信模块,存储器扩展模块,输入输出模块的设计原理,设计了CAN通信接口电路,并将所有电路模块融合为一体,运用PADS2005软件完成了电路板的原理图设计和PCB板设计,电路板做好后对电路中各个模块的功能均已调试成功。对系统硬件抗干扰技术方面应注意的问题进行了说明。
再次,在分析从数控系统软件设计的基础上,从功能模块化的角度分别实现了操作面板消息流程设计和CAN通信程序设计。研究了圆弧插补算法的实现和误差情况。CAN通信程序设计实现了CAN底层协议中的CAN总线控制器SJA1000的初始化、发送接收与中断处理程序设计,同时介绍了广州周立功单片机有限公司制定的应用层协议—iCAN协议。
最后,提出将主从数控系统应用到配链式刀库的加工中心的设计思想,分析了主从数控系统在加工中心中的各自的功能分配,解释了从数控系统作为链式刀库的定位轴的优势,阐述了主从数控系统的控制过程,分析了iCAN协议在该加工中心的帧结构和具体应用。
Along with rapid development of modern manufacture, the common numerical control systems (Computerized Numerical Control, CNC)don't take on high automatization at machine and they are lack of networking. Because of these limitations, the function expansion of numerical control systems becomes an important heading of numerical control technique development. The research purpose of the thesis is to establish a sort of CNC system architecture with high reliability, networking and high complex. This will make CNC systems to better adapt to the networking and integration development of modern manufacture.
At present, the CNC systems with linkage multi-axes are developed both here and abroad and a great many achievements are obtained. In our country, CNC systems with linkage multi-axes are used by relatively few people. Conventional type and economical type numerically-controlled machines account for 70.1% in numerical control equipments, so it has greatly actual meaning to broaden functions of CNC systems applied in CNC machine tools. At the same time, as a result of the rapid development of microelectronic technique, communication technology, computer technology. CAN(Controller Area Network, CAN)which supports serial communication local area network of distributed control and real-time control has been extensively used in datum communication of control systems. Therefore, combined with CAN Bus, principal and subordinate mode CNC systems are designed and in this thesis the KND-K1000MII type CNC system acts as principal CNC system and the KND-KOS type system acts as subordinate CNC system. The principal CNC system communicates with the subordinate CNC system through CAN bus interface. The dominant researches of the thesis are as follows:
First of all, on the foundation of analyses about hardware and software structure of principal and subordinate CNC systems, the whole design proposal of principal and subordinate CNC system is put forward according to all function demands.
Secondly, STC89C516RD+single chip is chosen as master chip of subordinate CNC system. After the careful analyses about D/A output module, serial port communication module, memory expansion module and I/O output module in inhere hardware circuit, CAN communication interface circuit is designed and all circuit modules are combined together. When the circuit board is accomplished by PADS2005 software, each modular function is debugged. The anti-interference technique problems of system hardware are illustrated.
Once again, on the basis of the analyses about software of subordinate CNC system, the flow design of message from operating panel, program design of interpolation algorithm and program design of CAN bus communication are realized according to modularity function. Initializing designing program of CAN bus controller SJA1000, sending and receiving programs and interrupt handling routines are detailedly carried out by C language in CAN bus communication design. iCAN protocol which is application layer protocol established by Guangzhou Zhiyuan Electronics CO., LTD. is introduced at the same time.
In the end, the assumption about applying principal and subordinate CNC systems in machine center with chain magazine is brought forward. The respective functions of principal and subordinate CNC systems in machine center are assigned. The superiority of subordinate CNC system as chain magazine is explained. The control process of principal and subordinate CNC systems is illustrated and the frame structure of iCAN protocol is applied in this machine center.
引文
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[2]陈曹.控机床的发展趋势.机械设计与制造,2005(9),175-176.
[3]康伟,王艳秋.基于单片机的机床经济型数控系统设计[J],辽宁工学院学报,2006.6,162-163.
[4]北京凯恩帝数控技术有限公司.K1000M数控系统用户手册[M],北京,2007,54-60.
[5]北京凯恩帝数控技术有限公司.KOS数控系统用户手册[M],北京,2007,32-50.
[6]萧宝瑾.信息论与编码.兵器工业出版社,2000,12-13.
[7]饶运涛,邹继军,郑勇芸.现场总线CAN原理与应用技术[M].北京,北京航空航天大学出版社,2007.8,20-34.
[8]周晴.基于扩频技术的电焊机无线电遥控系统的研究.太原,太原理工大学,2006.6.
[9]MAXIM公司.ICL7662芯片手册.1999,3.
[10]宏晶科技股份有限公司.STC89C51RC/RD+系列单片机器件手册.
[11]谢秋云,韩晓茹,肖铁军.基于单片机的智能仪器前面板的设计实现[J].微计算机信息,2008,Vol.24,102-104.
[12]北京青云创新科技发展有限公司.LCM192643使用手册.2-13.
[13]AMD公司.AM29F040芯片手册.2000.11.
[14]Cypress半导体公司.CY62256LL-70SNC芯片手册.1998.3.
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[16]SJA1000 Stand-alone CAN controller.PHILIPS DATA SHEET.5-15.
[17]Hank,P.and Junk,E.Application Note:SJA 1000 Stand-alone CAN Controller.Philips Semiconductors,1997,6-9.
[18]Philip 公司.PCA82C250 CAN Controllers interface.Data Sheet,2000.
[19]广州致远电子有限公司.基于SJA1000的CAN节点设计.2006.12.
[20]于艳,顾桓.MCS_51单片机和PC机间的串口通信[J].科学技术与工程,Vol.7,2007.4,1786-1788.
[21]熊权洪.基于CAN总线的独立运动控制器的设计与研究.汉,武汉理工大学,2007.05,23-24.
[22]TI公司.DAC7512N芯片用户手册.2004.2
[23]江思敏,姚鹏翼.PADS电路原理图和PCB设计[M].机械工业出版社,2007.10,156-189.
[24]姜雪松,陈绮,许灵军.印制电路板设计[M].机械工业出版社,2005.11,178-185
[25]吉峰.混合信号电路板抗干扰能力和电磁兼容性[J].制导与引信,2003,24(3):42-45.
[26]任玉田等.机床计算机数控技术[M].北京理工大学出版社,1996.7-8.
[27]周丹.SOFT型CNC数控系统控制软件的开发.杭州,浙江大学,2004.
[28]马超.基于CAN协议的智能仪表的研究.天津,河北工业大学,2006.
[29]代爱妮.基于CAN现场总线的测控网络研究.青岛,青岛大学,2005.
[30]王楠.基于CAN总线的数据传输模块设计.内蒙古大学,2005.
[31]饶鑫.智能测控仪表CAN总线通讯的研究.天津,河北工业大学,2004.03.
[32]周慧.数据采样法圆弧插补的新算法.组合机床与自动化加工技术,2004.2,38-39.
[33]Acceleration/Deceleration and Interpolation Methods in CNC Machine Tools.IEEE:1898-1905.
[34]李因鹏.基于DSP的开放式数控系统运动控制器的研究.西安,西安交通大学,2005,44-46.
[35]Kouich Kono,etal.AC Connection Around Complicated Curve Meshes Using NURBS Boundary Gregory Patches.Computer Aided Design,2001,(33),29-33.
[36]陆前锋.基于SJA1000的CAN总线智能控制系统设计.自动化技术与应用,2003,(1):23-25.
[37]广州周立功单片机发展有限公司.CANbus规范V2.0版本.2002.
[38]广州致远电子有限公司.现场总线iCAN协议规范V 1.0.2006,17-24.
[39]何立民.MCS51系列单片机应用系统设计(系统配置于接口技术)[M].北京,北京航天航空大学出版社,1990,67-71.
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[2]陈曹.控机床的发展趋势.机械设计与制造,2005(9),175-176.
[3]康伟,王艳秋.基于单片机的机床经济型数控系统设计[J],辽宁工学院学报,2006.6,162-163.
[4]北京凯恩帝数控技术有限公司.K1000M数控系统用户手册[M],北京,2007,54-60.
[5]北京凯恩帝数控技术有限公司.KOS数控系统用户手册[M],北京,2007,32-50.
[6]萧宝瑾.信息论与编码.兵器工业出版社,2000,12-13.
[7]饶运涛,邹继军,郑勇芸.现场总线CAN原理与应用技术[M].北京,北京航空航天大学出版社,2007.8,20-34.
[8]周晴.基于扩频技术的电焊机无线电遥控系统的研究.太原,太原理工大学,2006.6.
[9]MAXIM公司.ICL7662芯片手册.1999,3.
[10]宏晶科技股份有限公司.STC89C51RC/RD+系列单片机器件手册.
[11]谢秋云,韩晓茹,肖铁军.基于单片机的智能仪器前面板的设计实现[J].微计算机信息,2008,Vol.24,102-104.
[12]北京青云创新科技发展有限公司.LCM192643使用手册.2-13.
[13]AMD公司.AM29F040芯片手册.2000.11.
[14]Cypress半导体公司.CY62256LL-70SNC芯片手册.1998.3.
[15]曹国华,程继红.单片机系统中大容量数据存储器的系统扩展[J].计算机应用,2002.Vol.28.10-11.
[16]SJA1000 Stand-alone CAN controller.PHILIPS DATA SHEET.5-15.
[17]Hank,P.and Junk,E.Application Note:SJA 1000 Stand-alone CAN Controller.Philips Semiconductors,1997,6-9.
[18]Philip 公司.PCA82C250 CAN Controllers interface.Data Sheet,2000.
[19]广州致远电子有限公司.基于SJA1000的CAN节点设计.2006.12.
[20]于艳,顾桓.MCS_51单片机和PC机间的串口通信[J].科学技术与工程,Vol.7,2007.4,1786-1788.
[21]熊权洪.基于CAN总线的独立运动控制器的设计与研究.汉,武汉理工大学,2007.05,23-24.
[22]TI公司.DAC7512N芯片用户手册.2004.2
[23]江思敏,姚鹏翼.PADS电路原理图和PCB设计[M].机械工业出版社,2007.10,156-189.
[24]姜雪松,陈绮,许灵军.印制电路板设计[M].机械工业出版社,2005.11,178-185
[25]吉峰.混合信号电路板抗干扰能力和电磁兼容性[J].制导与引信,2003,24(3):42-45.
[26]任玉田等.机床计算机数控技术[M].北京理工大学出版社,1996.7-8.
[27]周丹.SOFT型CNC数控系统控制软件的开发.杭州,浙江大学,2004.
[28]马超.基于CAN协议的智能仪表的研究.天津,河北工业大学,2006.
[29]代爱妮.基于CAN现场总线的测控网络研究.青岛,青岛大学,2005.
[30]王楠.基于CAN总线的数据传输模块设计.内蒙古大学,2005.
[31]饶鑫.智能测控仪表CAN总线通讯的研究.天津,河北工业大学,2004.03.
[32]周慧.数据采样法圆弧插补的新算法.组合机床与自动化加工技术,2004.2,38-39.
[33]Acceleration/Deceleration and Interpolation Methods in CNC Machine Tools.IEEE:1898-1905.
[34]李因鹏.基于DSP的开放式数控系统运动控制器的研究.西安,西安交通大学,2005,44-46.
[35]Kouich Kono,etal.AC Connection Around Complicated Curve Meshes Using NURBS Boundary Gregory Patches.Computer Aided Design,2001,(33),29-33.
[36]陆前锋.基于SJA1000的CAN总线智能控制系统设计.自动化技术与应用,2003,(1):23-25.
[37]广州周立功单片机发展有限公司.CANbus规范V2.0版本.2002.
[38]广州致远电子有限公司.现场总线iCAN协议规范V 1.0.2006,17-24.
[39]何立民.MCS51系列单片机应用系统设计(系统配置于接口技术)[M].北京,北京航天航空大学出版社,1990,67-71.
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