数控系统多通道控制技术的开发
|
摘要
数控系统的多通道控制技术是高档数控系统的重要功能,在复合加工、柔性生产线等工业生产中有着广泛的应用需求。针对数控系统的多通道控制技术,在分析多通道控制的应用模型和技术要求的基础上,本文采用分层式的软件框架,建立了设备对象的物理模型,研究了通道控制的内核模块,同时设计了用户控制的接口。
本文根据多通道控制应用模型的加工形式和加工特点,研究了通道间并行、同步、交换及重叠等关键控制技术,通过采用一种分层式框架实现了通道间并行控制的功能。该架构依据MVC(Model View Controller)的设计模式和参考OMAC(Open Modular Architecture Controller)标准,基于Linux平台实现。
采用基于优先级的模块调度方式,实现了内部模块的控制。利用通道模块的模式状态机,实现了对通道模式的切换控制。通过对共享同步标记的加锁和取反操作,实现了编程指令中的通道间的同步控制。在研究轴与轴之间的空间和时间关系的基础上,提出了采用耦合轴的方式解决多通道控制中的轴间的同步控制问题,实现了通道的重叠控制。利用轴的空闲态和准备态的切换,解决了多通道控制中轴的共享和释放问题,实现了通道的交换控制。
本文对用户在多通道应用时的界面显示、参数配置及编程控制等问题上进行了研究。利用通道参数的轴号与轴参数的设备号,实现了从用户编程轴到实际物理轴的映射。提出了采用G代码实现多通道协同控制的方法,设计了通道间等待、通道间交换等相关的控制指令。为了实现通道间宏变量的共享,在宏程序的用户变量域中划分出了用于多通道控制的共享变量区。通过在梯形图元件引入通道号的编程参数,实现了PLC中的通道控制功能。针对多通道控制的干涉等安全问题,设计了模拟仿真功能用于多通道控制的验证。
通过双刀架、双主轴的加工方式的仿真模拟,以及由一台车床和一台铣床组成的双通道的加工平台的实际加工,验证了本文开发的数控系统的多通道控制功能。
The functions of metal cutting machine tools have been increased to meet the growing demand of productivity in machining complicated parts on one machine. This thesis presents a design for the numerical control device capability of the multi-channel, based on the open architecture of CNC. With complex application model analysis, this frame is completed by building of physical model of devices, researching the control module of kernel and designing the human-machine interface.
By researching the characteristic of complex machining and the techniques of concurrent control, synchronous control, swapping control together with superimposed control, a software framework of CNC system with multi-channel capability based on the Linux platform is presented by using the MVC design pattern and referring to OMAC. The relationships between modules and the data model of the control objects are discussed mainly on the framework.
Based on priority, the scheduling of modules in control module is analyzed. The FMS (Finite State Machine) of channel is designed to switch the channel mode. For synchronous control, the strategy of global mark operation has been studied in decoding module. The model of axes relationships is build for superimposed control in axes group module. With the design of the control status of axis in axis module, the swapping control could be completed.
The basic design principles for the layout of multi-channel HMI and the operation of control panel are discussed before designing the parameter configuration interface used to map the channel unit of logic layer to the control object of physical layer. By studying the solutions for user programming of multi-channel control, the new G-code formats of the axis programming name and of controlling the channel, the new PLC elements expanded with channel information, the Macro for sharing the variables and on-line simulation for detecting the interference are presented in human-machine interface.
Through the simulation and actual machining, it is verified that the method of multi-channel control presented in this thesis would complete the complex job.
本文根据多通道控制应用模型的加工形式和加工特点,研究了通道间并行、同步、交换及重叠等关键控制技术,通过采用一种分层式框架实现了通道间并行控制的功能。该架构依据MVC(Model View Controller)的设计模式和参考OMAC(Open Modular Architecture Controller)标准,基于Linux平台实现。
采用基于优先级的模块调度方式,实现了内部模块的控制。利用通道模块的模式状态机,实现了对通道模式的切换控制。通过对共享同步标记的加锁和取反操作,实现了编程指令中的通道间的同步控制。在研究轴与轴之间的空间和时间关系的基础上,提出了采用耦合轴的方式解决多通道控制中的轴间的同步控制问题,实现了通道的重叠控制。利用轴的空闲态和准备态的切换,解决了多通道控制中轴的共享和释放问题,实现了通道的交换控制。
本文对用户在多通道应用时的界面显示、参数配置及编程控制等问题上进行了研究。利用通道参数的轴号与轴参数的设备号,实现了从用户编程轴到实际物理轴的映射。提出了采用G代码实现多通道协同控制的方法,设计了通道间等待、通道间交换等相关的控制指令。为了实现通道间宏变量的共享,在宏程序的用户变量域中划分出了用于多通道控制的共享变量区。通过在梯形图元件引入通道号的编程参数,实现了PLC中的通道控制功能。针对多通道控制的干涉等安全问题,设计了模拟仿真功能用于多通道控制的验证。
通过双刀架、双主轴的加工方式的仿真模拟,以及由一台车床和一台铣床组成的双通道的加工平台的实际加工,验证了本文开发的数控系统的多通道控制功能。
The functions of metal cutting machine tools have been increased to meet the growing demand of productivity in machining complicated parts on one machine. This thesis presents a design for the numerical control device capability of the multi-channel, based on the open architecture of CNC. With complex application model analysis, this frame is completed by building of physical model of devices, researching the control module of kernel and designing the human-machine interface.
By researching the characteristic of complex machining and the techniques of concurrent control, synchronous control, swapping control together with superimposed control, a software framework of CNC system with multi-channel capability based on the Linux platform is presented by using the MVC design pattern and referring to OMAC. The relationships between modules and the data model of the control objects are discussed mainly on the framework.
Based on priority, the scheduling of modules in control module is analyzed. The FMS (Finite State Machine) of channel is designed to switch the channel mode. For synchronous control, the strategy of global mark operation has been studied in decoding module. The model of axes relationships is build for superimposed control in axes group module. With the design of the control status of axis in axis module, the swapping control could be completed.
The basic design principles for the layout of multi-channel HMI and the operation of control panel are discussed before designing the parameter configuration interface used to map the channel unit of logic layer to the control object of physical layer. By studying the solutions for user programming of multi-channel control, the new G-code formats of the axis programming name and of controlling the channel, the new PLC elements expanded with channel information, the Macro for sharing the variables and on-line simulation for detecting the interference are presented in human-machine interface.
Through the simulation and actual machining, it is verified that the method of multi-channel control presented in this thesis would complete the complex job.
引文
[1]夏伯雄,叶红.多主轴高速制孔[J].机械.2004(S1)：145-146.
[2]李佳特FANUC最新数控和伺服技术[J].机械工人(冷加工).2007(2)：20-22.
[3]陈劲松.NUM数控系统在五轴插补上的特点[J].制造技术与机床.2000(6)：54.
[4]梁全,王永章.五轴数控系统RTCP和RPCP技术应用[J].组合机床与自动化加工技术.2008(2)：62-65.
[5]邓宏筹.面向21世纪的柔性制造技术[J].中国工程科学.2000(9)：12-23.
[6]Cheraghi S H, Waram V. Scheduling of multi-spindle CNC gantry mills[J]. Journal of Scheduling.2002,5(1):3-22.
[7]王庆党,付纯连.POWER MATE i-H的多通道功能在多工位数控组合机床中的应用[J].组合机床与自动化加工技术.2006(4)：71-72.
[8]张曙.从车铣复合到完整加工[J].新技术新工艺.2004(8)：2-5.
[9]Fanuc. FANUC Series 30i车床系统、加工中心系统通用用户手册[M].2005.
[10]Siemens. SINUMERIK 840D s1840Di s1840D840Di810D Basic Functions[M].2006.
[11]Siemens. SINUMERIK 840D s1840Di s1840D840Di810D Extended Functions[M]. 2006.
[12]Siemens. SINUMERIK 840D s1840Di s1840D840Di810D Special functions[M]. 2006.
[13]Mitsubishi E. MITSUBISHI CNC 700 SeriesProgramming Manual (Machining Center System)[M].2004.
[14]施奈德电气公司.NUM数控系统的多轴组和多通道的功能介绍[J].制造技术与机床.2000(9)：47.
[15]郇极.在PC上实现的多轴多通道数控软件系统[J].世界制造技术与装备市场.1995(2)：63-66.
[16]李刚.用于复合机床的多通道五轴联动数控系统DASEN20[J]世界制造技术与装备市场.2008(3)：85-87.
[17]徐巍.高档数控系统的功能规划和关键技术研究[D].上海交通大学,2009.
[18]韩旭,黄艳,于东.基于混杂系统的多通道运动控制功能研究[J].组合机床与自动化加工技术.2010(6)：32-36.
[19]苏昊.五轴联动双通道车铣复合数控译码系统的研发[D].上海交通大学,2009.
[20]Suh S H, Cheon S U. A framework for an intelligent CNC and data model[J]. International Journal of Advanced Manufacturing Technology.2002,19(10):727- 735.
[21]Mekid S, Pruschek P, Hernandez J. Beyond intelligent manufacturing:A new generation of flexible intelligent NC machines[J]. Mechanism and Machine Theory. 2009,44(2):466-476.
[22]Morales-Velazquez L. Open-architecture system based on a reconfigurable hardware-software[J]. Journal of Systems Architecture.2010(56):407-418.
[23]梁福军,宁汝新.可重构制造系统理论研究[J].机械工程学报.2003(6)：36-43.
[24]盛伯浩,罗振璧,俞圣梅,等.快速重组制造系统的动态建模和结构体系[J].中国机械工程.1999(9)：1055-1060.
[25]Kotani T, Nakamoto K, Ishida T, et al. Development of CAM system for multi-tasking machine tools[J]. Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C.2009,75(757):2589-2595.
[26]Shin S J, Um J, Yoon J S, et al. Developing ISO 14649-based conversational programming system for multi-channel complex machine tools[J]. International Journal of Computer Integrated Manufacturing.2009,22(6):562-575.
[27]Group O A W. OMAC Baseline Architecture Functional Requirements Version 1.0[M].2002.
[28]周刚.基于STEP-NC的数控系统体系结构及其关键技术研究[D].浙江大学,2008.
[29]王鹏等.操作系统设计与实现(第二版)[M].2004.
[30]彭炎午,叶伯生,杨叔子.基于IPC的开放式体系结构的CNC系统[J].华中理工大学学报.1996(5)：47-49.
[31]卢艳军,任立义.基于几种不同操作系统平台的数控系统软件开发的比较研究[J].组合机床与自动化加工技术.2004(11)：50-52.
[32]Dozio L, Mantegazza P. Real time distributed control systems using RTAI[Z]. 2003:11-18.
[33]Wei Z, Dong Y, Yi H. Research on a platform to build real-time applications for CNC systems[Z]. Beijing, China:2008:124-128.
[34]李峰厚,叶佩青,游华云,等.基于RTLinux的开放式数控系统研究[J].组合机床与自动化加工技术.2001(7)：1-3.
[35]Frank Buschmann K H D C. Pattern Oriented Software Architecture[M]. Wiley, 2007.
[36]许鑫,费翔林.基于MVC模式的应用软件开发框架研究[J].计算机工程与应用.2005(30)：102-104.
[37]高甜容,于东,秦承刚,等.数控系统中模块间通信方法的设计与实现[J].计 算机工程.2010(12)：238-241.
[38]Asato O L, Kato E R R, Inamasu R Y, et al. Analysis of open CNC architecture for machine tools[J]. Revista Brasileira de Ciencias Mecanicas/Journal of the Brazilian Society of Mechanical Sciences.2002,24(3):208-212.
[39]Wang S, Ravishankar C V, Shin K G. Open architecture controller software for integration of machine tool monitoring[J]. Proceedings-IEEE International Conference on Robotics and Automation.1999,2:1152-1157.
[40]Wang S, Shin K G. Reconfigurable software for open architecture controllers[Z]. Seoul, Korea, Republic of:2001:4090-4095.
[41]孙维堂,刘永贤,张禹,等.有限状态机在开放式数控系统中的应用[J].东北大学学报(自然科学版).2007(8)：1174-1177.
[42]李为建,王文,秦兴.有限状态机在数控系统软件中的应用研究[J].组合机床与自动化加工技术.2003(4)：50-53.
[43]赵薇.多过程数控系统解释器及RTCP功能的设计与实现[D].中国科学院研究生院(沈阳计算技术研究所),2008.
[44]左静,魏仁选,吕新平,等.数控系统软件芯片的研制和开发[J].中国机械工程.1999(4)：424-427.
[45]王晓君,王田苗,姚远.数控系统内置式PLC的FPGA实现方法[J].航空制造技术.2007(3)：95-97.
[46]王晓宇,陈吉红,唐小琦.基于线程局部存储技术的多通道数控系统仿真[J].计算机工程.2010(14)：204-205.
[47]吴文江,秦承刚,陶耀东.基于MIPS处理器和RTAI的数控系统中调度抖动的研究[J].小型微型计算机系统.2010(7)：1342-1345.
[2]李佳特FANUC最新数控和伺服技术[J].机械工人(冷加工).2007(2)：20-22.
[3]陈劲松.NUM数控系统在五轴插补上的特点[J].制造技术与机床.2000(6)：54.
[4]梁全,王永章.五轴数控系统RTCP和RPCP技术应用[J].组合机床与自动化加工技术.2008(2)：62-65.
[5]邓宏筹.面向21世纪的柔性制造技术[J].中国工程科学.2000(9)：12-23.
[6]Cheraghi S H, Waram V. Scheduling of multi-spindle CNC gantry mills[J]. Journal of Scheduling.2002,5(1):3-22.
[7]王庆党,付纯连.POWER MATE i-H的多通道功能在多工位数控组合机床中的应用[J].组合机床与自动化加工技术.2006(4)：71-72.
[8]张曙.从车铣复合到完整加工[J].新技术新工艺.2004(8)：2-5.
[9]Fanuc. FANUC Series 30i车床系统、加工中心系统通用用户手册[M].2005.
[10]Siemens. SINUMERIK 840D s1840Di s1840D840Di810D Basic Functions[M].2006.
[11]Siemens. SINUMERIK 840D s1840Di s1840D840Di810D Extended Functions[M]. 2006.
[12]Siemens. SINUMERIK 840D s1840Di s1840D840Di810D Special functions[M]. 2006.
[13]Mitsubishi E. MITSUBISHI CNC 700 SeriesProgramming Manual (Machining Center System)[M].2004.
[14]施奈德电气公司.NUM数控系统的多轴组和多通道的功能介绍[J].制造技术与机床.2000(9)：47.
[15]郇极.在PC上实现的多轴多通道数控软件系统[J].世界制造技术与装备市场.1995(2)：63-66.
[16]李刚.用于复合机床的多通道五轴联动数控系统DASEN20[J]世界制造技术与装备市场.2008(3)：85-87.
[17]徐巍.高档数控系统的功能规划和关键技术研究[D].上海交通大学,2009.
[18]韩旭,黄艳,于东.基于混杂系统的多通道运动控制功能研究[J].组合机床与自动化加工技术.2010(6)：32-36.
[19]苏昊.五轴联动双通道车铣复合数控译码系统的研发[D].上海交通大学,2009.
[20]Suh S H, Cheon S U. A framework for an intelligent CNC and data model[J]. International Journal of Advanced Manufacturing Technology.2002,19(10):727- 735.
[21]Mekid S, Pruschek P, Hernandez J. Beyond intelligent manufacturing:A new generation of flexible intelligent NC machines[J]. Mechanism and Machine Theory. 2009,44(2):466-476.
[22]Morales-Velazquez L. Open-architecture system based on a reconfigurable hardware-software[J]. Journal of Systems Architecture.2010(56):407-418.
[23]梁福军,宁汝新.可重构制造系统理论研究[J].机械工程学报.2003(6)：36-43.
[24]盛伯浩,罗振璧,俞圣梅,等.快速重组制造系统的动态建模和结构体系[J].中国机械工程.1999(9)：1055-1060.
[25]Kotani T, Nakamoto K, Ishida T, et al. Development of CAM system for multi-tasking machine tools[J]. Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C.2009,75(757):2589-2595.
[26]Shin S J, Um J, Yoon J S, et al. Developing ISO 14649-based conversational programming system for multi-channel complex machine tools[J]. International Journal of Computer Integrated Manufacturing.2009,22(6):562-575.
[27]Group O A W. OMAC Baseline Architecture Functional Requirements Version 1.0[M].2002.
[28]周刚.基于STEP-NC的数控系统体系结构及其关键技术研究[D].浙江大学,2008.
[29]王鹏等.操作系统设计与实现(第二版)[M].2004.
[30]彭炎午,叶伯生,杨叔子.基于IPC的开放式体系结构的CNC系统[J].华中理工大学学报.1996(5)：47-49.
[31]卢艳军,任立义.基于几种不同操作系统平台的数控系统软件开发的比较研究[J].组合机床与自动化加工技术.2004(11)：50-52.
[32]Dozio L, Mantegazza P. Real time distributed control systems using RTAI[Z]. 2003:11-18.
[33]Wei Z, Dong Y, Yi H. Research on a platform to build real-time applications for CNC systems[Z]. Beijing, China:2008:124-128.
[34]李峰厚,叶佩青,游华云,等.基于RTLinux的开放式数控系统研究[J].组合机床与自动化加工技术.2001(7)：1-3.
[35]Frank Buschmann K H D C. Pattern Oriented Software Architecture[M]. Wiley, 2007.
[36]许鑫,费翔林.基于MVC模式的应用软件开发框架研究[J].计算机工程与应用.2005(30)：102-104.
[37]高甜容,于东,秦承刚,等.数控系统中模块间通信方法的设计与实现[J].计 算机工程.2010(12)：238-241.
[38]Asato O L, Kato E R R, Inamasu R Y, et al. Analysis of open CNC architecture for machine tools[J]. Revista Brasileira de Ciencias Mecanicas/Journal of the Brazilian Society of Mechanical Sciences.2002,24(3):208-212.
[39]Wang S, Ravishankar C V, Shin K G. Open architecture controller software for integration of machine tool monitoring[J]. Proceedings-IEEE International Conference on Robotics and Automation.1999,2:1152-1157.
[40]Wang S, Shin K G. Reconfigurable software for open architecture controllers[Z]. Seoul, Korea, Republic of:2001:4090-4095.
[41]孙维堂,刘永贤,张禹,等.有限状态机在开放式数控系统中的应用[J].东北大学学报(自然科学版).2007(8)：1174-1177.
[42]李为建,王文,秦兴.有限状态机在数控系统软件中的应用研究[J].组合机床与自动化加工技术.2003(4)：50-53.
[43]赵薇.多过程数控系统解释器及RTCP功能的设计与实现[D].中国科学院研究生院(沈阳计算技术研究所),2008.
[44]左静,魏仁选,吕新平,等.数控系统软件芯片的研制和开发[J].中国机械工程.1999(4)：424-427.
[45]王晓君,王田苗,姚远.数控系统内置式PLC的FPGA实现方法[J].航空制造技术.2007(3)：95-97.
[46]王晓宇,陈吉红,唐小琦.基于线程局部存储技术的多通道数控系统仿真[J].计算机工程.2010(14)：204-205.
[47]吴文江,秦承刚,陶耀东.基于MIPS处理器和RTAI的数控系统中调度抖动的研究[J].小型微型计算机系统.2010(7)：1342-1345.