基于实时网络数控系统通信平台的设计与实现
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摘要
数控技术作为先进制造技术的核心内容之一,正朝着开放化,网络化,智能化的方向发展。本文以数控系统的网络化趋势为切入点,研究并实现了实时网络数控系统通信平台,为数控系统的网络化实现奠定了底层通信基础。
本文首先介绍了数控系统的发展趋势以及网络数控系统的功能及特点,分析了数控系统的体系结构。然后提出了基于实时网络的数控系统通信平台,并将该通信平台划分为内部网络和外部网络。
内部网络连接采用高速现场总线MECHATROLINK。根据MECHATROLINK现场总线的特点,本文设计并实现了运动控制器与MECHATROLINK总线之间的设备驱动层。
外部网络连接采用一种完全基于软件框架的硬实时以太网RTnet。本文详细分析了RTnet的实时网络协议栈,设计并实现了RTnet下的实时驱动程序。在此基础上,使用RTnet实时网络协议栈作为实时网络基础,实现了基于RTnet的RCS通信平台,并在数控系统中建立网络通信代理。最后,对外部网络进行了实时性测试和分析。
本文实现的实时网络数控系统通信平台,完成了远程监控端、数控系统以及现场设备之间的实时通信,能够为远程网络制造和监控提供实时的通信保证,为企业网络化制造、自动化生产奠定良好的基础。
Computer Numerical Control (CNC) Technology as the key technology of the advanced manufacturing technology, is developing towards opening, network and intelligentization. With the trends of network-based CNC system as the point, this thesis researches and implements the real-time network CNC system communication platform, which for network-based is established.
Firstly, the thesis introduces the development trends of CNC system and the functions and features of network CNC system, and analyes the architecture of CNC system.Then it proposes the communication platform of CNC system which is based on real-time network, and divides it into internal and external network.
Internal network uses high-speed fieldbus MECHATROLINK. According to the characteristics of MECHATROLINK, the thesis designs and implements a device driver layer between motion controller and filebus.
External network uses hard real-time Ethernet RTnet which is a complete software-based framework. Based on the detailed analysis of the real-time network protocol stack, the thesis designs and implements a real-time device driver of RTnet. Based on this, using real-time network protocol stack of RTnet as the real-time network infrastructure, the thesis implements the RCS communication platform based on RTnet and establishes a network communication agency in CNC system. At last, this thesis tests and analyses the real-time performance of external network.
This real-time network communication platform of the CNC system which accomplishes the real-time communication among the remote monitor, CNC system and field device, can provide a communication guarantee to remote network-based manufacture and monitor, which for enterprise network-based manufacture and automatic production is favorable established.
本文首先介绍了数控系统的发展趋势以及网络数控系统的功能及特点,分析了数控系统的体系结构。然后提出了基于实时网络的数控系统通信平台,并将该通信平台划分为内部网络和外部网络。
内部网络连接采用高速现场总线MECHATROLINK。根据MECHATROLINK现场总线的特点,本文设计并实现了运动控制器与MECHATROLINK总线之间的设备驱动层。
外部网络连接采用一种完全基于软件框架的硬实时以太网RTnet。本文详细分析了RTnet的实时网络协议栈,设计并实现了RTnet下的实时驱动程序。在此基础上,使用RTnet实时网络协议栈作为实时网络基础,实现了基于RTnet的RCS通信平台,并在数控系统中建立网络通信代理。最后,对外部网络进行了实时性测试和分析。
本文实现的实时网络数控系统通信平台,完成了远程监控端、数控系统以及现场设备之间的实时通信,能够为远程网络制造和监控提供实时的通信保证,为企业网络化制造、自动化生产奠定良好的基础。
Computer Numerical Control (CNC) Technology as the key technology of the advanced manufacturing technology, is developing towards opening, network and intelligentization. With the trends of network-based CNC system as the point, this thesis researches and implements the real-time network CNC system communication platform, which for network-based is established.
Firstly, the thesis introduces the development trends of CNC system and the functions and features of network CNC system, and analyes the architecture of CNC system.Then it proposes the communication platform of CNC system which is based on real-time network, and divides it into internal and external network.
Internal network uses high-speed fieldbus MECHATROLINK. According to the characteristics of MECHATROLINK, the thesis designs and implements a device driver layer between motion controller and filebus.
External network uses hard real-time Ethernet RTnet which is a complete software-based framework. Based on the detailed analysis of the real-time network protocol stack, the thesis designs and implements a real-time device driver of RTnet. Based on this, using real-time network protocol stack of RTnet as the real-time network infrastructure, the thesis implements the RCS communication platform based on RTnet and establishes a network communication agency in CNC system. At last, this thesis tests and analyses the real-time performance of external network.
This real-time network communication platform of the CNC system which accomplishes the real-time communication among the remote monitor, CNC system and field device, can provide a communication guarantee to remote network-based manufacture and monitor, which for enterprise network-based manufacture and automatic production is favorable established.
引文
[1] 李斌.数控技术和装备发展趋势及对策[J].中国制造业信息化,2002(5):30-32.
[2] 侯长合.数控系统的发展方向——高速、高精度化和易操作化[J].航空制造技术, 2004(4):50-52.
[3] 龚敏,陈友东.数控技术及开放式数控系统[J].机械设计与制造, 2006(2):79-80.
[4] 林金兰.数控系统的发展趋势——开放式数控系统[J].机床与液压,2003 (6): 24-25.
[5] 杨东勇,蒋静坪.新一代智能数控的研究现状与发展[J].组合机床与自动化加工技术,2001(7):51-54.
[6] 张俊,魏红根.数控系统发展趋势——智能化数控系统[J].制造技术与机床,2000[4]:7-9.
[7] 陆胜,刘锬.智能数控系统应用及关键技术研究[J].组合机床与自动化加工技术,2007(7):70-71.
[8] 樊留群,姜迪刚.智能化数控系统智能表示及实现方法的研究[J].中国机械工程,2000,11(4)412-414.
[9] 陈吉红.开放式网络化数控技术及其发展趋势[J].机械工人,2002(2):25-28.
[10]蔡旺,林道山,李从心.数控机床状态数据采集系统的实现[J].机械与液压, 2005(3):59-61.
[11]韩江,赵福民,王治森,吴焱明.网络化数控系统的概念及其技术内容[J].中国机械工程,2001,12(10),1141-1145.
[12] 卢艳军 , 任正义 . 网络数控系统结构及关键技术的研究 [J]. 制造业自动化,2005,27(1):58-61.
[13]王隆太,李吉中,李学峰.基于网络华制造模式的数控系统的研究[J].中国制造业信息化,2004,33(2):98-100.
[14]肖明.新一代网络化、开放式数控系统及应用[J].航空制造技术,2004(7):36-37.
[15]DIAPM RTAI-Beginner’s Guide. Dipartimento di Ingegneria Aerospaziale. Politecnico di Milano. 2002.
[16] Ismael Ripoll. RTLinux versus RTAI. see http://rtportal.upv.es/comparative/ rtl_vs_rtai.html.
[17] http://www.isd.mel.nist.gov/projects/rcs/index.html.
[18]James S. Albus.A Reference Model Architecture for Intelligent Systems Design.Intelligent Systems Division Manufacturing Engineering Laboratory National Institute of Standards and Technology.see http://www.isd.mel. nist. gov/projects/rcslib/.
[19] The NML Programmer’s Guide (C++ Version).see http://www. isd. mel. nist. gov/ projects/rcslib/NMLcpp.html.
[20] William P. Shackleford, Frederick M. Proctor, and John L. Michaloski, The Neutral Message Language: A Model and Method for Message Passing in Heterogeneous Environments, In Proceedings of the 2000 World Automation Conference, June 2000.
[21]王银芝,刘念聪,孙未.网络数控系统及其关键技术分析[J].机械科学与技术,2005(1):104-107.
[22]吴乃优,敖银辉,高向东.DeviceNet 网络的通信原理[J].电气传动,2000(6):51-53.
[23]孙雅明,毛鹏.基于现场总线强实时性控制信息传递的研究和仿真[J].电力系统自动化,2000(11):45-48
[24]周祖德,龙毅宏,刘泉.嵌入式网络数控技术与系统[J].机械工程学报,2007,43(5):1-6.
[25]冯冬芹,金建祥,褚健.以太网与现场总线[J].自动化仪表,2003(6):65-70.
[26] http://www.mechatrolink.org/
[27]杨月.应用于雕铣机的全数字数控系统的设计与实现[D]沈阳:中国科学院研究生院(沈阳计算技术研究所),2007.
[28]陈平,张安年.工业以太网在现场总线控制系统中的应用[J].洛阳工学院学报,2000,21(1):65-67.
[29]王骥,杨永田,徐光.确定性实时以太网在航空电子系统中的应用[J].航空电子技术,2006,37(3):29-31.
[30]Kiszka J,Wagner B. RTnet - a flexible hard real - time networking framework [ R ] .10th IEEE International Conference on Emerging Technologies and Factory Automation, 19-22 September 2005, Catania, Italy.
[31]http://www.rts.uni-hannover.de/rtnet/.
[32]王振华,朱国力.基于现场总线的新型开放式数控系统研究[J].中国机械工程,2001,12(4):395-397.
[33]Kiszka J, Schwebel R. The Alternative: RTnet. see www.rts.uni-hannover. de/rtnet/.
[34]Jan Kiszka, TDMA Version 2 Towards a Revised Media Access Control. see www.rts.uni-hannover.de/rtnet/.
[35] Alessandro Rubini.LINUX 设备驱动程序[M],中国电力出版社,2002 年 11 月.
[2] 侯长合.数控系统的发展方向——高速、高精度化和易操作化[J].航空制造技术, 2004(4):50-52.
[3] 龚敏,陈友东.数控技术及开放式数控系统[J].机械设计与制造, 2006(2):79-80.
[4] 林金兰.数控系统的发展趋势——开放式数控系统[J].机床与液压,2003 (6): 24-25.
[5] 杨东勇,蒋静坪.新一代智能数控的研究现状与发展[J].组合机床与自动化加工技术,2001(7):51-54.
[6] 张俊,魏红根.数控系统发展趋势——智能化数控系统[J].制造技术与机床,2000[4]:7-9.
[7] 陆胜,刘锬.智能数控系统应用及关键技术研究[J].组合机床与自动化加工技术,2007(7):70-71.
[8] 樊留群,姜迪刚.智能化数控系统智能表示及实现方法的研究[J].中国机械工程,2000,11(4)412-414.
[9] 陈吉红.开放式网络化数控技术及其发展趋势[J].机械工人,2002(2):25-28.
[10]蔡旺,林道山,李从心.数控机床状态数据采集系统的实现[J].机械与液压, 2005(3):59-61.
[11]韩江,赵福民,王治森,吴焱明.网络化数控系统的概念及其技术内容[J].中国机械工程,2001,12(10),1141-1145.
[12] 卢艳军 , 任正义 . 网络数控系统结构及关键技术的研究 [J]. 制造业自动化,2005,27(1):58-61.
[13]王隆太,李吉中,李学峰.基于网络华制造模式的数控系统的研究[J].中国制造业信息化,2004,33(2):98-100.
[14]肖明.新一代网络化、开放式数控系统及应用[J].航空制造技术,2004(7):36-37.
[15]DIAPM RTAI-Beginner’s Guide. Dipartimento di Ingegneria Aerospaziale. Politecnico di Milano. 2002.
[16] Ismael Ripoll. RTLinux versus RTAI. see http://rtportal.upv.es/comparative/ rtl_vs_rtai.html.
[17] http://www.isd.mel.nist.gov/projects/rcs/index.html.
[18]James S. Albus.A Reference Model Architecture for Intelligent Systems Design.Intelligent Systems Division Manufacturing Engineering Laboratory National Institute of Standards and Technology.see http://www.isd.mel. nist. gov/projects/rcslib/.
[19] The NML Programmer’s Guide (C++ Version).see http://www. isd. mel. nist. gov/ projects/rcslib/NMLcpp.html.
[20] William P. Shackleford, Frederick M. Proctor, and John L. Michaloski, The Neutral Message Language: A Model and Method for Message Passing in Heterogeneous Environments, In Proceedings of the 2000 World Automation Conference, June 2000.
[21]王银芝,刘念聪,孙未.网络数控系统及其关键技术分析[J].机械科学与技术,2005(1):104-107.
[22]吴乃优,敖银辉,高向东.DeviceNet 网络的通信原理[J].电气传动,2000(6):51-53.
[23]孙雅明,毛鹏.基于现场总线强实时性控制信息传递的研究和仿真[J].电力系统自动化,2000(11):45-48
[24]周祖德,龙毅宏,刘泉.嵌入式网络数控技术与系统[J].机械工程学报,2007,43(5):1-6.
[25]冯冬芹,金建祥,褚健.以太网与现场总线[J].自动化仪表,2003(6):65-70.
[26] http://www.mechatrolink.org/
[27]杨月.应用于雕铣机的全数字数控系统的设计与实现[D]沈阳:中国科学院研究生院(沈阳计算技术研究所),2007.
[28]陈平,张安年.工业以太网在现场总线控制系统中的应用[J].洛阳工学院学报,2000,21(1):65-67.
[29]王骥,杨永田,徐光.确定性实时以太网在航空电子系统中的应用[J].航空电子技术,2006,37(3):29-31.
[30]Kiszka J,Wagner B. RTnet - a flexible hard real - time networking framework [ R ] .10th IEEE International Conference on Emerging Technologies and Factory Automation, 19-22 September 2005, Catania, Italy.
[31]http://www.rts.uni-hannover.de/rtnet/.
[32]王振华,朱国力.基于现场总线的新型开放式数控系统研究[J].中国机械工程,2001,12(4):395-397.
[33]Kiszka J, Schwebel R. The Alternative: RTnet. see www.rts.uni-hannover. de/rtnet/.
[34]Jan Kiszka, TDMA Version 2 Towards a Revised Media Access Control. see www.rts.uni-hannover.de/rtnet/.
[35] Alessandro Rubini.LINUX 设备驱动程序[M],中国电力出版社,2002 年 11 月.