基于实时以太网的分布式电子控制器设计
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摘要
燃气轮机控制系统普遍采用数字电子控制技术,国内自行研制的数字电子控制器多为集中式控制器,且一般采取量体裁衣、单台定制的初级方式,而国外正在朝着模块化、通用化方向发展。
本文分析了通用燃机数控系统的总体要求,参考航空发动机分布式控制系统的设计思想,提出了分布式数字电子控制器设计方案。综合比较了当前常用的各种现场总线,确定了以EtherCAT实时以太网为主的总线方案,并开展了原理样机的设计。
在原理样机中,完成了以PowerPC处理器MPC5200B为核心的EtherCAT主站和以DSP处理器TMS320F2812为核心的EtherCAT从站硬件平台设计,并完成了EtherCAT主站软件、MPC5200B的Bootload软件开发,阐述了从站软件设计要点。
基于原理样机进行了EtherCAT总线实时性能测试、原理样机模块性能测试和原理样机EtherCAT系统测试,测试结果表明原理样机运行稳定可靠,EtherCAT以太网总线的实时性能够满足系统要求。以本文研究成果为基础的工程样机研制工作已经展开。
Digital electronic control technology has been commonly adapted in gas turbine control systems. Most domestic independently developed digital electronic controllers are the central controller, and generally take acts according to circumstances and single-customized. But there is a trend of developing the control systems with general modules in western countries.
In this paper, the general demands of common digital gas turbine control system are analyzed. According to the design idea of distributed aero-engine control system, a distributed digital electronic controller design is proposed. After a comprehensive comparison of several types of field bus, the EtherCAT real-time Ethernet Bus is selected as the main fieldbus of our gas turbine control system, and a principle prototype design is carried out.
In the principle prototype, a hardware platform which is composed of an EtherCAT master station based on the PowerPC processors of MPC5200B and several EtherCAT slave stations based on the DSP processor of TMS320F2812 is developed. The EtherCAT master station software and the bootload software of MPC5200B are developed, and the design features of EtherCAT slave software are described.
Based on the principle prototype, the real-time performance of EtherCAT bus and the performance of the principle prototype modules and EtherCAT system are tested. The results show that the prototype is stable and reliable; the real-time performance of EtherCAT bus can meet the system requirements. Based on the research result of this paper, an engineering prototype has been developing.
本文分析了通用燃机数控系统的总体要求,参考航空发动机分布式控制系统的设计思想,提出了分布式数字电子控制器设计方案。综合比较了当前常用的各种现场总线,确定了以EtherCAT实时以太网为主的总线方案,并开展了原理样机的设计。
在原理样机中,完成了以PowerPC处理器MPC5200B为核心的EtherCAT主站和以DSP处理器TMS320F2812为核心的EtherCAT从站硬件平台设计,并完成了EtherCAT主站软件、MPC5200B的Bootload软件开发,阐述了从站软件设计要点。
基于原理样机进行了EtherCAT总线实时性能测试、原理样机模块性能测试和原理样机EtherCAT系统测试,测试结果表明原理样机运行稳定可靠,EtherCAT以太网总线的实时性能够满足系统要求。以本文研究成果为基础的工程样机研制工作已经展开。
Digital electronic control technology has been commonly adapted in gas turbine control systems. Most domestic independently developed digital electronic controllers are the central controller, and generally take acts according to circumstances and single-customized. But there is a trend of developing the control systems with general modules in western countries.
In this paper, the general demands of common digital gas turbine control system are analyzed. According to the design idea of distributed aero-engine control system, a distributed digital electronic controller design is proposed. After a comprehensive comparison of several types of field bus, the EtherCAT real-time Ethernet Bus is selected as the main fieldbus of our gas turbine control system, and a principle prototype design is carried out.
In the principle prototype, a hardware platform which is composed of an EtherCAT master station based on the PowerPC processors of MPC5200B and several EtherCAT slave stations based on the DSP processor of TMS320F2812 is developed. The EtherCAT master station software and the bootload software of MPC5200B are developed, and the design features of EtherCAT slave software are described.
Based on the principle prototype, the real-time performance of EtherCAT bus and the performance of the principle prototype modules and EtherCAT system are tested. The results show that the prototype is stable and reliable; the real-time performance of EtherCAT bus can meet the system requirements. Based on the research result of this paper, an engineering prototype has been developing.
引文
[1]刘永祺.航空改型燃气轮机控制系统的设计.热能动力工程,1992,7(4):200~204.
[2]于达仁,刘金福,徐基豫.面向21世纪的燃气轮机技术的发展.燃气轮机技术. 2001, 14(1):14~21.
[3]吉桂明,刘长和.燃气轮机的技术和应用:现状和展望.热能动力工程. 2000, 15(88):339~447.
[4]刘大易,张宏鹏.燃气轮机的发展前景及其发电技术.应用能源技术. 2008, 1:5~8.
[5]薛银春,孙健国.燃气轮机控制技术综述.航空动力学报,2005,20(6):1066~1071.
[6]吴石贤.燃气轮机控制系统概况.发电设备,2003,02:56~58.
[7] GE Co. SPEEDTRONICTM Mark VI Turbine Control GEI-100483A Product Description.
[8]杨惠新.燃气轮机控制系统MARK VI介绍.华东电力,2004,32(8):58~20.
[9]陈钢,刘帮加,张力. MarkⅥ燃气轮机控制系统及其应用.电站系统工程,2005,21(5):50~56.
[10]刘勇.基于DSP的燃机三余度数字电子控制器设计.南京:南京航空航天大学硕士论文,2007.
[11]王文杰,杨东,苗淼.一种舰用燃气轮机数字控制系统.信息与电子工程,2008,6(1):75~78.
[12]乔玄,孙志岩.燃气轮机分布式控制系统设计.航空发动机,2006,32(1):49~52.
[13] Shaffer, P.L. Distributed control system for turbine engines. Trans. ASME, J. Eng. Gas Turbines Power (USA).1999, 121(1)
[14]徐科.航空发动机分布式控制系统.南京:南京航空航天大学硕士论文,2004.
[15]孙健国.面向21世纪航空动力控制展望.航空动力学报,2001,16(2): 97~102.
[16]张绍基.航空发动机控制系统的研发与展望.航空动力学报,2004,19(3): 375~382.
[17]何鹄环.航空发动机分布式控制关键技术研究.西安:西北工业大学硕士论文,2006.
[18] Harata. Y,Ishii.K,Nagase. H Kimura. M,Nishinura. YTakigawa.M. Study of a distributed function engine control system with a serial communication network. International Journal of vehicle Design (VOL 12, No l,pp 61-9 1991 ISSN:0143-3369)
[19] KurtSobanski, etal .Gas turbine distributed control systems:Power supply and communication data bus design consideration .ASME 98-GT-414,The International Gas Turbine&Aeroengine Congress&Exhibition Stockholm, Sweden,June,1998.
[20] Lewis .Distributed Architecture for Advanced Engine Control Systems .In WrightLab;Advanced Aero-engine Concepts and Controls. (SEE N96-36571 12-07).
[21]杨国科.先进飞机电气系统汇流条控制器的设计与研制.西安:西北工业大学硕士论文,2002.
[22]廉保旺. CAN总线与1553B总线性能分析与比较,测控技术,2000,19(6):47~49.
[23] Anon. CAN interface. Elektron. 2004, 6(21):38~40.
[24] CAN Specification 2.0, Part A, CAN in Automation, Am Weichselgarten 26, D-91058 Erlangen.
[25] CAN Specification 2.0, Part B, CAN in Automation, Am Weichselgarten 26, D-91058 Erlangen.
[26] MIL-STD-1553 DESIGNER’S GUIDE SIXTH EDITION.ILC Data Device Corporation2000.
[27] McClare A. The 1553B communications bus. New Electron. (UK). 1984, 9(17):44~48.
[28]杜品圣.工业以太网技术的介绍和比较.仪器仪表标准化与计量,2005,5:16~19.
[29] Schwager J. Comparison of Ethernet variants. Elektronik (Germany). 2004, 11(53):48~54.
[30]缪学勤.论六种实时以太网的通信协议.自动化仪表,2005,26(4):1~6.
[31]缪学勤.实时以太网技术最新进展.电气时代,2005,6:64~68.
[32] Prytz, Gunnar. A performance analysis of EtherCAT and PROFINET IRT. IEEE Symp Emerging Technol Fact Autom ETFA. 2008. 408~415.
[33]薛银春,孙健国.燃机发电机组控制中现场总线技术的发展.航空动力学报. 2005, 20(6):1072~1077.
[34] Robertz S.G, Nilsson K, Henriksson R, etal. Industrial robot motion control with real-time Java and EtherCAT. 12th IEEE International Conference on Emerging Technologies and Factory Automation. 2007. 1453~1456.
[35] Santacaterina A, Di Biagio C, Pennella G, etal.The hard real-time problem on Ethernet.Proceedings of the Sixth IASTED International Conference on Communication System and Networks.2007, 69~75.
[36]刘艳强,王健,单春荣.基于EtherCAT的多轴运动控制器研究.制造技术与机床. 2008,6:100~103.
[37] EtherCAT Technology Group. EtherCAT Technical Introduction and Overview. December 2004.
[38] www.gongkong.com. EtherCAT——技术介绍及发展概貌.
[39]德国倍福公司.实时以太网:I/O层超高速以太网.自动化博览. 2004,4:48~50.
[40] Freescale Semiconductor. MPC5200B Data Sheet, Rev. 1, 1/2006.
[41] Freescale Semiconductor. MPC5200B User's Manual, Rev. 1, 1/2006.
[42] TEXAS INSTRUMENTS. TMS320F2810, TMS320F2811, TMS320F2812, TMS320C2810,TMS320C2811, TMS320C2812, Digital Signal Processors Data Manual, April 2001, Revised July 2007.
[43]刘栋,王殿奎.基于MPC5200的视频处理系统设计.微计算机信息. 2007, 23(5-2):16~18.
[44]袁黎华,李式巨.基于MPC5200的音视频采集系统.电子设计应用. 2006,5:116~118.
[45]黄国华,俞涛王,文斌.基于MPC5200的运动控制器设计.微计算机信息. 2008, 24(10-1):43~54.
[46]黄国华.基于MPC5200的RTAI实时应用研究.单片机与嵌入式系统应用,2007,6:42~45.
[47]赵竹君,孙未.基于PowerPC的嵌入式系统设计.现代电子技术,2007,9:33~35.
[48] Wang Wenbin. Yu Tao. Liu Tan. A research on reconfigurable numerical controller based on embedded system. 2006 IEEE International Conference on Mechatronics, ICM. 2006. 189~193.
[49]蒋沭嘉,苏建良,何永义.基于MPC5200和嵌入式Linux的数控系统.机电工程,2005, 22(11):1~4.
[50] Micrel, Inc. KS8721BL/SL Datasheet. February 2005.
[51]江澄.航空发动机数字式电子控制器设计技术研究.南京:南京航空航天大学硕士论文,1999
[52] EtherCAT Slave Controller Register Hardware Data Sheet V1.3. Beckhoff. 2003.
[53] TMS320F2810, TMS320F2811, TMS320F2812 ADC Calibration (Rev. A). Texas Instruments Incorporated. 2004.
[54] Potra Sorin, Sebestyen Gheorghe. EtherCAT protocol implementation issues on an embedded linux platform. 2006 IEEE International Conference on Automation, Quality and Testing, Robotics, AQTR. 2006. 420~425.
[55] White Rob. EtherCAT drivers for real-time control systems. Automotive Industries AI. 2005, 12(185).
[2]于达仁,刘金福,徐基豫.面向21世纪的燃气轮机技术的发展.燃气轮机技术. 2001, 14(1):14~21.
[3]吉桂明,刘长和.燃气轮机的技术和应用:现状和展望.热能动力工程. 2000, 15(88):339~447.
[4]刘大易,张宏鹏.燃气轮机的发展前景及其发电技术.应用能源技术. 2008, 1:5~8.
[5]薛银春,孙健国.燃气轮机控制技术综述.航空动力学报,2005,20(6):1066~1071.
[6]吴石贤.燃气轮机控制系统概况.发电设备,2003,02:56~58.
[7] GE Co. SPEEDTRONICTM Mark VI Turbine Control GEI-100483A Product Description.
[8]杨惠新.燃气轮机控制系统MARK VI介绍.华东电力,2004,32(8):58~20.
[9]陈钢,刘帮加,张力. MarkⅥ燃气轮机控制系统及其应用.电站系统工程,2005,21(5):50~56.
[10]刘勇.基于DSP的燃机三余度数字电子控制器设计.南京:南京航空航天大学硕士论文,2007.
[11]王文杰,杨东,苗淼.一种舰用燃气轮机数字控制系统.信息与电子工程,2008,6(1):75~78.
[12]乔玄,孙志岩.燃气轮机分布式控制系统设计.航空发动机,2006,32(1):49~52.
[13] Shaffer, P.L. Distributed control system for turbine engines. Trans. ASME, J. Eng. Gas Turbines Power (USA).1999, 121(1)
[14]徐科.航空发动机分布式控制系统.南京:南京航空航天大学硕士论文,2004.
[15]孙健国.面向21世纪航空动力控制展望.航空动力学报,2001,16(2): 97~102.
[16]张绍基.航空发动机控制系统的研发与展望.航空动力学报,2004,19(3): 375~382.
[17]何鹄环.航空发动机分布式控制关键技术研究.西安:西北工业大学硕士论文,2006.
[18] Harata. Y,Ishii.K,Nagase. H Kimura. M,Nishinura. YTakigawa.M. Study of a distributed function engine control system with a serial communication network. International Journal of vehicle Design (VOL 12, No l,pp 61-9 1991 ISSN:0143-3369)
[19] KurtSobanski, etal .Gas turbine distributed control systems:Power supply and communication data bus design consideration .ASME 98-GT-414,The International Gas Turbine&Aeroengine Congress&Exhibition Stockholm, Sweden,June,1998.
[20] Lewis .Distributed Architecture for Advanced Engine Control Systems .In WrightLab;Advanced Aero-engine Concepts and Controls. (SEE N96-36571 12-07).
[21]杨国科.先进飞机电气系统汇流条控制器的设计与研制.西安:西北工业大学硕士论文,2002.
[22]廉保旺. CAN总线与1553B总线性能分析与比较,测控技术,2000,19(6):47~49.
[23] Anon. CAN interface. Elektron. 2004, 6(21):38~40.
[24] CAN Specification 2.0, Part A, CAN in Automation, Am Weichselgarten 26, D-91058 Erlangen.
[25] CAN Specification 2.0, Part B, CAN in Automation, Am Weichselgarten 26, D-91058 Erlangen.
[26] MIL-STD-1553 DESIGNER’S GUIDE SIXTH EDITION.ILC Data Device Corporation2000.
[27] McClare A. The 1553B communications bus. New Electron. (UK). 1984, 9(17):44~48.
[28]杜品圣.工业以太网技术的介绍和比较.仪器仪表标准化与计量,2005,5:16~19.
[29] Schwager J. Comparison of Ethernet variants. Elektronik (Germany). 2004, 11(53):48~54.
[30]缪学勤.论六种实时以太网的通信协议.自动化仪表,2005,26(4):1~6.
[31]缪学勤.实时以太网技术最新进展.电气时代,2005,6:64~68.
[32] Prytz, Gunnar. A performance analysis of EtherCAT and PROFINET IRT. IEEE Symp Emerging Technol Fact Autom ETFA. 2008. 408~415.
[33]薛银春,孙健国.燃机发电机组控制中现场总线技术的发展.航空动力学报. 2005, 20(6):1072~1077.
[34] Robertz S.G, Nilsson K, Henriksson R, etal. Industrial robot motion control with real-time Java and EtherCAT. 12th IEEE International Conference on Emerging Technologies and Factory Automation. 2007. 1453~1456.
[35] Santacaterina A, Di Biagio C, Pennella G, etal.The hard real-time problem on Ethernet.Proceedings of the Sixth IASTED International Conference on Communication System and Networks.2007, 69~75.
[36]刘艳强,王健,单春荣.基于EtherCAT的多轴运动控制器研究.制造技术与机床. 2008,6:100~103.
[37] EtherCAT Technology Group. EtherCAT Technical Introduction and Overview. December 2004.
[38] www.gongkong.com. EtherCAT——技术介绍及发展概貌.
[39]德国倍福公司.实时以太网:I/O层超高速以太网.自动化博览. 2004,4:48~50.
[40] Freescale Semiconductor. MPC5200B Data Sheet, Rev. 1, 1/2006.
[41] Freescale Semiconductor. MPC5200B User's Manual, Rev. 1, 1/2006.
[42] TEXAS INSTRUMENTS. TMS320F2810, TMS320F2811, TMS320F2812, TMS320C2810,TMS320C2811, TMS320C2812, Digital Signal Processors Data Manual, April 2001, Revised July 2007.
[43]刘栋,王殿奎.基于MPC5200的视频处理系统设计.微计算机信息. 2007, 23(5-2):16~18.
[44]袁黎华,李式巨.基于MPC5200的音视频采集系统.电子设计应用. 2006,5:116~118.
[45]黄国华,俞涛王,文斌.基于MPC5200的运动控制器设计.微计算机信息. 2008, 24(10-1):43~54.
[46]黄国华.基于MPC5200的RTAI实时应用研究.单片机与嵌入式系统应用,2007,6:42~45.
[47]赵竹君,孙未.基于PowerPC的嵌入式系统设计.现代电子技术,2007,9:33~35.
[48] Wang Wenbin. Yu Tao. Liu Tan. A research on reconfigurable numerical controller based on embedded system. 2006 IEEE International Conference on Mechatronics, ICM. 2006. 189~193.
[49]蒋沭嘉,苏建良,何永义.基于MPC5200和嵌入式Linux的数控系统.机电工程,2005, 22(11):1~4.
[50] Micrel, Inc. KS8721BL/SL Datasheet. February 2005.
[51]江澄.航空发动机数字式电子控制器设计技术研究.南京:南京航空航天大学硕士论文,1999
[52] EtherCAT Slave Controller Register Hardware Data Sheet V1.3. Beckhoff. 2003.
[53] TMS320F2810, TMS320F2811, TMS320F2812 ADC Calibration (Rev. A). Texas Instruments Incorporated. 2004.
[54] Potra Sorin, Sebestyen Gheorghe. EtherCAT protocol implementation issues on an embedded linux platform. 2006 IEEE International Conference on Automation, Quality and Testing, Robotics, AQTR. 2006. 420~425.
[55] White Rob. EtherCAT drivers for real-time control systems. Automotive Industries AI. 2005, 12(185).