| Motion control is one of the key technologies in computer numerical control system, which has an extremely important influence on the actual machining quality. Until now, many outstanding solutions to motion control problems have appeared in the industrial field. However, the incompatibility and complexity among the solutions make it difficult to achieve a perfect motion control system.To deal with this problem, this thesis proposes a design method for the motion control system on the basis of PLCopen standard, and accomplishes the development of component-based function blocks. To improve the development efficiency, the idea of modular programming is adopted and the hierarchical model of the motion control function blocks is studied in the thesis.Firstly, the application status and development tendency of the PLCopen motion control standard is analyzed. According to the features and requirements of motion control system, the system model and architecture are explored and designed. In what follows, the software and hardware platforms of the control system are discussed in details.Secondly, owing to hierarchical model of function block s, some key techniques in the functional blocks are investigated, such as the state diagram of PLCopen standard, the interrupt mechanism between function blocks, and the velocity planning approach. These researches provide interfaces and standards for the functional blocks and can simplify and speed up the development process.Thirdly, relaying on above analyses, the design procedures for standard functional blocks are presented in details, which can be mainly classified into the implementations of single-axis ones and multi-axis ones.Finally, the developed functional blocks are carried out and tested in the single-axis and multi-axis experimental platform, and the accomplished PLCopen motion control system is applied in the shearing machine. The experimental results verify the feasibility and effectiveness of the motion control system. |
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