Design Of Motion Control System For Pillow Packaging Machine Based On Industrial Ethernet

In recent years,various industrial control systems have higher request about their's realtime performance,accuracy and reliability with the development of industrial intelligence.Today,traditional fieldbus has been unable to meet so many strict reqirements.With the development of Industry 4.0,the connection of network communication technology and industrial control has become increasingly close,and the application of multi axis coordinated control had become more widely.Under the application of background of Three servo pillow packaging machine,this paper introduces the new industrial real-time Ethernet EtherCAT and designes the motion control system of packaging machine based on EtherCAT.Simulating,analysing and improving the multi-axis coordinated control strategy of current packaging machine.Firstly,this paper introduces the research status of motion control system of packaging machine,then summarizes the difference between EtherCAT and other bus.Secondly,this paper designes the whole control architecture of pillow packaging machine by combining it with EtherCAT.The TwinCAT is adopted to act as the EtherCAT master station.In the hardware design of the EtherCAT slave,LAN9252 is chosed to work as ESC to realize the communication between master and slave.The chip KV56 which is produced by Freescale acts as the core processor of the EtherCAT slave to inplement the application layer of EtherCAT by cooperating with LAN9252.In the software design of the EtherCAT slave,this paper designes the process data interface between KV56 and LAN9252,and completes the communication of service data object and process data object.Thirdly,aiming at the Key Technologies in Packaging Machine,this paper changes the current control strategy of pillow packaging machine which is called as maste-slave control strategy.Comparing the performance of master-slave control strategyand adjacent cross-coupled control strategy by simulink.At last,building the test environment based on TwinCAT and actual motors on the basis of the hardware and software.Designing the HMI interactive interface and writing multi-axis control program on TwinCAT.The result shows that the performance of pillow packaging motion control system which is designed by this paper meets the expected requirements.