| At present,the world's major economies have put forward strategic plans to revitalize the manufacturing industry to promote a new round of industrial and technological changes.China has put forward the "Made in China 2025" plan to promote the development of advanced manufacturing.Motion controller is one of the key components of automation equipment,and a controller with excellent performance plays an important role in improving the level of manufacturing.In order to meet the current demands of increasingly complex manufacturing processes,motion controllers must have a high degree of openness and ease of use,and the ability to integrate various sensors.At present,the motion controllers of many domestic manufacturers generally suffer from insufficient openness,low cost performance,and difficulty in integrating various sensors.Many underlying core technologies rely on foreign manufacturers and lack autonomy,,which severely limits the development of the manufacturing industry.In response to these problems,this paper designs a soft motion control platform based on the open source real-time system solution Xenomai and the German Etherlab company's EtherCAT bus protocol open source solution IgH EtherCAT Master,and provides a complete solution for building a motion control system.The soft motion control platform constructed in this paper is based on the real-time Linux system Xenomai and industrial computer as the hardware operating platform.It supports two Ethernet fieldbuses,EtherCAT and EtherMAC,and provides a C++interface library and platform management tools.The main content of this article is divided into the following sections.Overall design of the soft motion control platform.According to the demand analysis of the high-performance soft motion control platform,it is determined that the soft motion control platform uses an industrial computer as the hardware platform,and a detailed analysis of its parameter selection in various aspects is made.Then,a real-time Linux operating system was built on the hardware platform with the Xenomai solution,and the EtherCAT bus protocol was implemented on the basis of the real-time operating system,as well as the EtherMAC bus protocol designed by CNC technology research center of Shandong University.Finally,the software architecture of the soft motion control platform is proposed on the basis of the underlying software.Design of functional components of soft motion control platform.The functional components are divided into four parts:control platform management interface,control platform bus synchronization interface,motion control library,and IO control library.The function of the control platform management interface is to control the start and stop of the entire platform.The function of the control platform bus synchronization interface is to realize data synchronization between user tasks and the bus communication thread constructed by the control platform.The motion control library is an interface library that conforms to the PLCopen standard.This article constructs a virtual axis to abstract axis equipment,and introduces the construction process of the motion control library in detail.The IO control library is a control interface for the IO devices of the two bus types supported by this article.Design of platform management tool.This article mainly focuses on the aspects of equipment scanning,parameter configuration,parameter acquisition,and equipment trial operation,designs and implements a platform management tool in the form of a graphical interface.Finally,this article takes a six-axis industrial robot project as an example,and uses the soft motion control platform constructed in this article to realize the motion control system of the robot to verify the practicability of the constructed platform.In addition,this article also conducted a detailed test of the communication period jitter of the robot application,which fully verified the real-time nature of the control system proposed in this article. |
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