基于嵌入式系统的制造装备自律控制理论与关键技术研究
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摘要
制造装备作为现代制造系统的关键基础单元,其性能的好坏决定着先进制造模式的成败。目前在制造过程规划、协调和协作方面的研究,主要是集中在系统层面上,对于如何解决装备的异构性、装备间复杂的交互与协同、以及在可达的异构资源中寻求协作的能力等问题尚缺乏深入的研究;对于数字制造装备如何适应网络化数字制造环境的研究,大都停留在解决网络通信、远程操控和数据交换等问题上,很少关注底层数字制造装备对复杂动态制造环境的主动感知和自主适应等问题。本文利用嵌入式技术、网络与通信技术和智能理论与技术,针对制造系统底层制造装备的自律控制理论与关键技术展开研究,以实现制造装备具有对制造环境的自主适应能力、对加工行为的自律控制能力、与异构制造设备的集成能力。本文开展的研究工作如下:
(1)对制造装备自律控制的内涵进行了研究,从制造装备自律控制的概念、概念性系统模型和特征三个方面进行了详细的阐述和说明;并通过分析网络化数字制造环境及其带来的制造装备自律控制的功能需求,研究了制造装备自律控制的功能;然后系统地从静态模型(层次结构和模块组成)和动态模型(工作流和信息流)两个角度详细分析了制造装备的自律控制。制造装备自律控制的内涵、功能和模型分析是基于嵌入式系统的制造装备自律控制理论和关键技术研究开展的基础。
(2)在研究闭环位置控制数学模型、加工轮廓运动控制中的误差分析和轮廓误差计算模型的基础上,针对利用一般运动轮廓误差计算模型不能实时计算出曲线轮廓误差的不足,结合实时轮廓误差补偿控制策略和模糊逻辑理论,研究了基于模糊逻辑理论和实时误差计算的轮廓自律控制策略。该策略可根据轮廓误差绝对值的大小和加工轮廓曲率的变化自主地调整进给速度,并能实时计算出轮廓误差近似值;在轴闭环位置为二阶数学模型的两轴轮廓运动和轴位置控制为常规比例控制器的仿真实验条件下,仿真实验结果表明了该策略的有效性。
(3)在分析资源共享相关理论的资源共享的概念模型、控制模式和层次的基础上,描述了网络化数字制造环境下数控装备资源的特性,研究了网络化数字制造环境下数控装备资源模型,即数控装备制造单元资源模型和基于数控装备制造单元的网络化制造资源模型;并研究了数控装备适应网络化数字制造环境的自律控制策略,即为实现数控装备资源共享的自主协作策略。该自主协作策略采用以加工任务为中心、任务驱动的协商机制;通过该自主协作策略,数控制造装备资源具有适应网络化数字制造环境自律控制的自主协作能力。
(4)在数控装备自律控制理论研究的基础上,结合现代信息技术,研究了以网络为数控系统支撑平台、以网络信息资源和数控资源共享为目的的基于嵌入式系统的数控装备自律控制的关键技术,即基于嵌入式系统的数控装备的网络通信技术、与网络化数字制造环境集成技术和基于嵌入式系统的数控制造装备自律控制的体系结构。研究了基于XML的制造装备信息集成,给出了描述制造装备资源信息的XML Schema;并根据基于嵌入式系统的制造装备自律控制体系结构的设计要求和设计模式,研究了两种基于嵌入式系统的制造装备自律控制体系结构,即基于嵌入式系统的制造装备自律控制基本系统体系结构和基于嵌入式系统的制造装备网络自律控制服务系统体系结构。
(5)在前面基于嵌入式系统的制造装备自律控制理论与关键技术研究的基础上,针对基于嵌入式系统的制造装备自律控制基本系统体系结构和基于嵌入式系统的制造装备网络自律控制服务系统体系结构,研究了相应的基于嵌入式系统的数控装备自律控制策略的系统平台,即基于嵌入式系统的数控装备自律控制基本系统和基于嵌入式系统的数控装备网络自律控制服务系统,这包括系统平台的功能目标、软硬件架构及其关键技术等。
Manufacturing equipment is the key basic element of a modern manufacturing system. Its function strength and performance quality determines the success or failure of advanced manufacturing modes. At present, the research on manufacturing process planning, coordination and collaboration mainly focuses on the system level and lacks in-depth study on how to address the heterogeneous nature of the equipment, the complex interaction and collaboration between the equipment, as well as search for collaboration capacity up to the heterogeneous resources. The research on how digital manufacturing equipment to adapt to the network-based digital manufacturing environment most remains in the settlement of network communication, remote control and data exchange. It pays very little attention to the bottom digital equipment's initiative aware and adapting to complex dynamic manufacturing environment. In this paper, the embedded technology, network and communication technology and theory of intelligence and technology are used to do research on manufacturing equipment in manufacturing systems to adapt to the networked digital environment, in order to achieve manufacturing equipment's capacities of self-adapting to the manufacturing environment, self-controlling its action on the processing, and integrating with heterogeneous manufacturing equipment. This paper has carried out the following research:
(1) The connotation of autonomous control of numerical control equipment is studied. And it is introduced and described from three aspects of the NC equipment self-discipline control concept, conceptual model and features. Also, through the analysis of network-based digital manufacturing environment, numerical control equipment autonomous control abilities are studied. The paper does the detailed analysis of NC autonomous control systematically from points of the static model (level and structure of the modules) and the dynamic model (workflow and information flow). The research on manufacturing equipment autonomous control theory and key technologies based on embedded system is carried out based on the connotation and analysis of function and model of manufacturing equipment.
(2) On the basis of the study on the mathematical model of the closed-loop location control, the analysis of contour error in the process motion control and error calculation model, according to the lack of using normal contour error model not to calculate contour error of curve in real-time, combining real-time contour error compensation control strategy and fuzzy logic theory, the fuzzy logic and real-time contour error calculation based self-discipline control strategy is proposed. The strategy can be based on the absolute value of the curve contour error and changes in contour curvature to independently adjust the feed rate, and to calculate in real-time contour error approximation. Under the condition of the simulation experiments of two-axis contour control movement with second-order axis closed-loop position mathematical model and the axis position controlled by the conventional controller, simulation results show that the effectiveness of the strategy.
(3) Based on the analysis of resource sharing theory including resource sharing concept model, control modes and the level of resource sharing, the characteristics of numerical control equipment in the network-based digital manufacturing environment are described. And the numerical control equipment manufacturing unit resource model and networked manufacturing resource models based on the numerical control equipment manufacturing unit are proposed. The study on autonomous control strategy of numerical control equipment in network-based digital environment is done. It is the autonomous collaborative strategy of NC equipment resource sharing. The collaboration strategy applies processing tasks-driven consensus mechanism. Through the autonomous collaboration strategy, CNC manufacturing equipment has the autonomy capability to adapt to the network-based digital manufacturing environment.
(4) On the basis of research on autonomous control theory of numerical control equipment, combining modern information technology and for the aim of network information and numerical control resource sharing under network for numerical control surpporting system platform, the research on key technologies of embedded system-based CNC equipment self-discipline control are done from three aspects of the embedded technology-based manufacturing equipment network communication technology, the integration technology with network-based digital manufacturing environment and numerical control manufacturing equipment self-discipline control architecture based on embedded system. Research on XML-based information integration of manufacturing equipment is done and XML Schema of manufacturing equipment information is given. And according to embedded technology based numerical control self-discipline control architecture design requirements and design patterns, two kinds of NC equipment self-discipline control architecture based on embedded technology are proposed. That is self-discipline control basic architecture and network self-discipline control service architecture of numerical control manufacturing equipment based on embedded system.
(5) Based on the above manufacturing equipment autonomous control theory and key technologies research based on embedded system and according two types of embedded technology-based numerical control equipment self-discipline control architecture, embedded system based numerical control equipment self-discipline control basic system and embedded system based NC equipment network self-discipline control service system are studied. It covers the system function target, hardware and software architecture, the key technologies.
(1)对制造装备自律控制的内涵进行了研究,从制造装备自律控制的概念、概念性系统模型和特征三个方面进行了详细的阐述和说明;并通过分析网络化数字制造环境及其带来的制造装备自律控制的功能需求,研究了制造装备自律控制的功能;然后系统地从静态模型(层次结构和模块组成)和动态模型(工作流和信息流)两个角度详细分析了制造装备的自律控制。制造装备自律控制的内涵、功能和模型分析是基于嵌入式系统的制造装备自律控制理论和关键技术研究开展的基础。
(2)在研究闭环位置控制数学模型、加工轮廓运动控制中的误差分析和轮廓误差计算模型的基础上,针对利用一般运动轮廓误差计算模型不能实时计算出曲线轮廓误差的不足,结合实时轮廓误差补偿控制策略和模糊逻辑理论,研究了基于模糊逻辑理论和实时误差计算的轮廓自律控制策略。该策略可根据轮廓误差绝对值的大小和加工轮廓曲率的变化自主地调整进给速度,并能实时计算出轮廓误差近似值;在轴闭环位置为二阶数学模型的两轴轮廓运动和轴位置控制为常规比例控制器的仿真实验条件下,仿真实验结果表明了该策略的有效性。
(3)在分析资源共享相关理论的资源共享的概念模型、控制模式和层次的基础上,描述了网络化数字制造环境下数控装备资源的特性,研究了网络化数字制造环境下数控装备资源模型,即数控装备制造单元资源模型和基于数控装备制造单元的网络化制造资源模型;并研究了数控装备适应网络化数字制造环境的自律控制策略,即为实现数控装备资源共享的自主协作策略。该自主协作策略采用以加工任务为中心、任务驱动的协商机制;通过该自主协作策略,数控制造装备资源具有适应网络化数字制造环境自律控制的自主协作能力。
(4)在数控装备自律控制理论研究的基础上,结合现代信息技术,研究了以网络为数控系统支撑平台、以网络信息资源和数控资源共享为目的的基于嵌入式系统的数控装备自律控制的关键技术,即基于嵌入式系统的数控装备的网络通信技术、与网络化数字制造环境集成技术和基于嵌入式系统的数控制造装备自律控制的体系结构。研究了基于XML的制造装备信息集成,给出了描述制造装备资源信息的XML Schema;并根据基于嵌入式系统的制造装备自律控制体系结构的设计要求和设计模式,研究了两种基于嵌入式系统的制造装备自律控制体系结构,即基于嵌入式系统的制造装备自律控制基本系统体系结构和基于嵌入式系统的制造装备网络自律控制服务系统体系结构。
(5)在前面基于嵌入式系统的制造装备自律控制理论与关键技术研究的基础上,针对基于嵌入式系统的制造装备自律控制基本系统体系结构和基于嵌入式系统的制造装备网络自律控制服务系统体系结构,研究了相应的基于嵌入式系统的数控装备自律控制策略的系统平台,即基于嵌入式系统的数控装备自律控制基本系统和基于嵌入式系统的数控装备网络自律控制服务系统,这包括系统平台的功能目标、软硬件架构及其关键技术等。
Manufacturing equipment is the key basic element of a modern manufacturing system. Its function strength and performance quality determines the success or failure of advanced manufacturing modes. At present, the research on manufacturing process planning, coordination and collaboration mainly focuses on the system level and lacks in-depth study on how to address the heterogeneous nature of the equipment, the complex interaction and collaboration between the equipment, as well as search for collaboration capacity up to the heterogeneous resources. The research on how digital manufacturing equipment to adapt to the network-based digital manufacturing environment most remains in the settlement of network communication, remote control and data exchange. It pays very little attention to the bottom digital equipment's initiative aware and adapting to complex dynamic manufacturing environment. In this paper, the embedded technology, network and communication technology and theory of intelligence and technology are used to do research on manufacturing equipment in manufacturing systems to adapt to the networked digital environment, in order to achieve manufacturing equipment's capacities of self-adapting to the manufacturing environment, self-controlling its action on the processing, and integrating with heterogeneous manufacturing equipment. This paper has carried out the following research:
(1) The connotation of autonomous control of numerical control equipment is studied. And it is introduced and described from three aspects of the NC equipment self-discipline control concept, conceptual model and features. Also, through the analysis of network-based digital manufacturing environment, numerical control equipment autonomous control abilities are studied. The paper does the detailed analysis of NC autonomous control systematically from points of the static model (level and structure of the modules) and the dynamic model (workflow and information flow). The research on manufacturing equipment autonomous control theory and key technologies based on embedded system is carried out based on the connotation and analysis of function and model of manufacturing equipment.
(2) On the basis of the study on the mathematical model of the closed-loop location control, the analysis of contour error in the process motion control and error calculation model, according to the lack of using normal contour error model not to calculate contour error of curve in real-time, combining real-time contour error compensation control strategy and fuzzy logic theory, the fuzzy logic and real-time contour error calculation based self-discipline control strategy is proposed. The strategy can be based on the absolute value of the curve contour error and changes in contour curvature to independently adjust the feed rate, and to calculate in real-time contour error approximation. Under the condition of the simulation experiments of two-axis contour control movement with second-order axis closed-loop position mathematical model and the axis position controlled by the conventional controller, simulation results show that the effectiveness of the strategy.
(3) Based on the analysis of resource sharing theory including resource sharing concept model, control modes and the level of resource sharing, the characteristics of numerical control equipment in the network-based digital manufacturing environment are described. And the numerical control equipment manufacturing unit resource model and networked manufacturing resource models based on the numerical control equipment manufacturing unit are proposed. The study on autonomous control strategy of numerical control equipment in network-based digital environment is done. It is the autonomous collaborative strategy of NC equipment resource sharing. The collaboration strategy applies processing tasks-driven consensus mechanism. Through the autonomous collaboration strategy, CNC manufacturing equipment has the autonomy capability to adapt to the network-based digital manufacturing environment.
(4) On the basis of research on autonomous control theory of numerical control equipment, combining modern information technology and for the aim of network information and numerical control resource sharing under network for numerical control surpporting system platform, the research on key technologies of embedded system-based CNC equipment self-discipline control are done from three aspects of the embedded technology-based manufacturing equipment network communication technology, the integration technology with network-based digital manufacturing environment and numerical control manufacturing equipment self-discipline control architecture based on embedded system. Research on XML-based information integration of manufacturing equipment is done and XML Schema of manufacturing equipment information is given. And according to embedded technology based numerical control self-discipline control architecture design requirements and design patterns, two kinds of NC equipment self-discipline control architecture based on embedded technology are proposed. That is self-discipline control basic architecture and network self-discipline control service architecture of numerical control manufacturing equipment based on embedded system.
(5) Based on the above manufacturing equipment autonomous control theory and key technologies research based on embedded system and according two types of embedded technology-based numerical control equipment self-discipline control architecture, embedded system based numerical control equipment self-discipline control basic system and embedded system based NC equipment network self-discipline control service system are studied. It covers the system function target, hardware and software architecture, the key technologies.
引文
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