基于嵌入式软PLC技术的运动控制功能块的研究
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摘要
嵌入式软PLC技术在以传统PLC技术、嵌入式系统及软PLC技术为基础发展而来。针对不同的运动控制器所需的编程语言不同的问题,深入研究了嵌入式软PLC技术和PLCopen准则,以广州创龙公司的omapl138开发板为硬件平台,移植基于Codesys SP为内核的操作系统,并以圆弧插补算法作为运动控制功能块的研究对象,实现了符合PLCopen规范的多轴运动控制功能块的开发。在Matlab软件中完成对功能块的仿真验证,并将功能块下载到不同运动平台上。结果表明,功能块执行正确,符合设计要求,具有良好的兼容性。
According to different motion controller is needed for the programming language of different problems,in-depth study of the standard iec61131-3 programming,and the circular arc interpolation algorithm as the research object of movement control function block,this paper proposes a in current industrial control industry widely Codesys software as a development platform,adopt the method of ST combined with CFC programming language,realizes the migration method based on circle arc interpolation algorithm of motion control block design,finally in the MATLAB software simulation was carried out on the design of the function block. The results showthat the function block performs correctly,comply with the design requirements,it has good compatibility,for the design of the motion control algorithm module provides the theoretical foundation and solution.
According to different motion controller is needed for the programming language of different problems,in-depth study of the standard iec61131-3 programming,and the circular arc interpolation algorithm as the research object of movement control function block,this paper proposes a in current industrial control industry widely Codesys software as a development platform,adopt the method of ST combined with CFC programming language,realizes the migration method based on circle arc interpolation algorithm of motion control block design,finally in the MATLAB software simulation was carried out on the design of the function block. The results showthat the function block performs correctly,comply with the design requirements,it has good compatibility,for the design of the motion control algorithm module provides the theoretical foundation and solution.
引文
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[4]王丽丽,康存锋,马春敏,等.基于CoDeSys的嵌入式软PLC系统的设计与研究[J].现代制造工程,2007,3(1):54-56.
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[6]王伟.基于CoDeSys的多轴机器人控制系统的研究[D].济南:山东大学,2015.
[7]申华,卢健康,毕玉庆.LMC20型运动控制器的多轴直线联动程序设计[J].自动化仪表,2009,30(3):19-21.
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[9]郑仲谦.基于PLCopen的开放式运动控制器研究与实现[D].广州:华南理工大学,2014.
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[11]John K H.Tigelkamp M.IEC61131-3:Pro-garmming Industrail Automation Sys-tems[M].[S.1.]:Spring Verlag,2001.
[12]张廷坤.基于CoDeSys平台的嵌入式软PLC研究[D].青岛:山东科技大学,2012.
[2]巩向信,葛益军.IEC61131-3编程语言的现状[J].控制工程,2007,14(1):100-101.
[3]王晨升,徐新国,朱廷劭.IEC61131-3的通用工业组态软件系统设计研究[J].控制工程,2010,17(z1):132-136.
[4]王丽丽,康存锋,马春敏,等.基于CoDeSys的嵌入式软PLC系统的设计与研究[J].现代制造工程,2007,3(1):54-56.
[5]童建林.CoDeSys在开放式PLC系统中的应用[J].电工技术,2013(7):38-39.
[6]王伟.基于CoDeSys的多轴机器人控制系统的研究[D].济南:山东大学,2015.
[7]申华,卢健康,毕玉庆.LMC20型运动控制器的多轴直线联动程序设计[J].自动化仪表,2009,30(3):19-21.
[8]马永超.基于DSP+FPGA多轴运动控制器的研究与实现[D].绵阳:西南科技大学,2015.
[9]郑仲谦.基于PLCopen的开放式运动控制器研究与实现[D].广州:华南理工大学,2014.
[10]申超.基于嵌入式PLC运动控制器开发及其风机控制应用[D].湘潭:湘潭大学,2013.
[11]John K H.Tigelkamp M.IEC61131-3:Pro-garmming Industrail Automation Sys-tems[M].[S.1.]:Spring Verlag,2001.
[12]张廷坤.基于CoDeSys平台的嵌入式软PLC研究[D].青岛:山东科技大学,2012.