PLCopen轴组运动功能块的研究与实现
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摘要
针对PLCopen单轴及主/从结构多轴功能块无法实现复杂多维运动控制的问题,对PLCopen轴组功能块的执行方式和参数保存及传递方法进行了研究,提出了结构体队列法,设计并实现了PLCopen轴组功能块,完成了多轴协调运动控制。首先采用基于信息队列的方法实现了PLCopen标准定义功能块中Buffer Mode功能,能够完成多种模式下的运动控制。然后采用建立结构体的方法实现了运动参数的保存及传递。最后,基于工控机+PMAC运动控制卡为架构的硬件平台,以调用轴组直线运动功能块为例,对轴组功能块功能进行了实验验证。实验结果表明,轴组功能块运行正确,能够完成多种模式的运动控制,实现多轴协调运动,满足对于复杂多维运动的实际需求。
Aiming at the problems that PLCopen single-axis and master/slave multi-axes function blocks could not complete the complex multi-dimensional motion control,the execution mode and the preservation and transmission of motion parameters of the PLCopen group function block were studied. The structure queue method was proposed and the PLCopen group function block was designed and implemented to achieve the coordinated multi-axes motion control. First,the method of establishing the message queue was used to achieve the Buffer Mode function of the PLCopen,which was able to realize the motion control of several modes. Then,the preservation and transmission of motion parameters were realized by establishing the structure body. Finally,based on the hardware platform with IPC and the PMAC motion control card,taking group linear function block as an example,experimental verification of the group function block was carried out. The results indicate that the group function block which executes accurately is able to achieve the coordinated multi-axes motion control in several modes and meet the requirements in practical application.
Aiming at the problems that PLCopen single-axis and master/slave multi-axes function blocks could not complete the complex multi-dimensional motion control,the execution mode and the preservation and transmission of motion parameters of the PLCopen group function block were studied. The structure queue method was proposed and the PLCopen group function block was designed and implemented to achieve the coordinated multi-axes motion control. First,the method of establishing the message queue was used to achieve the Buffer Mode function of the PLCopen,which was able to realize the motion control of several modes. Then,the preservation and transmission of motion parameters were realized by establishing the structure body. Finally,based on the hardware platform with IPC and the PMAC motion control card,taking group linear function block as an example,experimental verification of the group function block was carried out. The results indicate that the group function block which executes accurately is able to achieve the coordinated multi-axes motion control in several modes and meet the requirements in practical application.
引文
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[3]EELCO VAN DER WAL.PLCopen运动控制库正在改变工业控制的发展方向[J].国内外机电一体化技术,2006,29(4):50-52.
[4]刘艳强,宋永立.基于PLCopen的数控机械控制器研究与开发[J].制造业自动化,2013,35(2):63-67.
[5]彭瑜.支撑智能制造的PLCopen规范和技术[J].自动化仪表,2015,36(10):1-8.
[6]KIM I,KIM T,SUNG M,et al.An open-source development environment for industrial automation with Ether CAT and PLCopen motion control[C]//IEEE 18th Conference on ETFA.Cagliari:IEEE,2013:1-4.
[7]金丽娟,严义,刘罡.基于IEC 61131-3的运动控制模块设计[J].机电工程.2013,30(6):759-763.
[8]张丕鑫.基于PLCopen的运动控制功能块研究与实现[D].大连:大连理工大学机械工程学院,2011.
[9]罗林丹,包健.PLCopen运动模块参数传递方法的研究[J].机电工程,2014,31(7):945-950.
[10]SNDER C,ZOITL A,MEHOFER F,et al.Advanced use of PLCopen motion control library for autonomous servo drives in IEC 61499 based automation and control systems[J].e&i Elektrotechnik und Informationstechnik,2006,123(5):191-196.
[11]郑仲谦.基于PLCopen的开放式运动控制器研究与实现[D].广州:华南理工大学机械与汽车工程学院,2014.
[12]王翰,宋宝,唐小琦.基于PLCopen标准的运动控制系统设计[J].华中科技大学学报,2014,42(1):10-13.
[13]丛爽,刘宜.多轴协调运动中的交叉耦合控制[J].机械设计与制造,2006,41(10):166-168.
[14]张建国.基于滑模变结构控制的多轴协调运动控制策略研究[D].济南:山东大学控制科学与工程学院,2007.
[15]胡海涛.二维运动支架的研制及多轴协调运动控制方法的研究[D].西安:西安电子科技大学机械电子工程学院,2012.
[16]杨鹏程,佃松宜.多轴协调运动控制在某连续式风洞应用研究[J].计算机测量与控制,2015,13(9):3029-3030.
[17]战明,肖秀珍.IEC 61131标准以及PLCopen国际组织介绍[J].国内外机电一体化技术,2007,30(3):61-63.
[18]PLCopen.Function Blocks for motion control:part 4-Coordinated Motion[S].Netherlands:PLCopen,2008.