基于PLCopen的运动功能模块的建模与实现-控制工程专业论文.docxVIP

华 华 中 科 技 大 学 硕 士 学 位 论 文 PAGE III PAGE III Abstract With the continues development of industrial manufacturing technology, The develop requirements of motion control technology are also increasing. At the same time with the in-depth development of motion control technology, A standardized rules is needed to regulate the motion control market. The IEC 61131-3 standard was born in this context, The PLCopen who set the standard dedicated to the establishment of the motion control framework, and it has become a pillar standardized language of the Industrial control. This paper focuses on the research of motion controller hardware design and software design which is based on the PLCopen, and the hardware design includes power conversion circuits, DSP peripheral circuit, 232 communications interface circuits, and switch input and output interface circuit design, In addition there is an analysis of the anti-jamming design considerations when design the printed circuit board. For the high real-time requirements of the motion control system, the software design is mainly based on UCOS-II real-time operating system. This paper first describes the process of UCOS-II transplant in TMS320F28069. In addition, according to the definition of the PLCopen motion function module, conducted in-depth analysis of the modeling of the motor function module, introduced and analyzed the acceleration and deceleration control algorithm that is used in the single-axis and multi-axis motion function module. Describe the achievement of acceleration and deceleration control algorithm in DSP, and shows a flowchart of the algorithm. In addition described and analyzed the realization of the typical single-axis motion module – MC_MoveAbsolute module, and gives the flow chart of procedures and algorithm. Last there has a brief summary of the problems encountered in the entire motion controller hardware and software design PAGE IV PAGE IV process, and proposed the Prospect for the future work. Ke