基于以太网的数控系统现场总线技术研究
摘要
目前国产数控装置与伺服驱动之间的接口仍然采用“脉冲量或模拟量接口”标准,不能满足高速高精数控系统的通信要求,已经成为高档数控系统发展的主要瓶颈。而国外高档数控系统内部各模块之间的通信大都采用数字式现场总线,解决了通信瓶颈问题。但是这些现场总线多采用专用的硬件设备,技术保密,互不兼容,开发成本高。相对而言,以太网技术成熟、开放性好、兼容性强、成本低。因此将以太网技术引入数控系统,实现数控系统现场级实时通信与同步是我国下一代高档数控系统的重要研究内容,论文围绕这个主题展开以下研究。
研究了国外主流数控系统现场总线技术的体系结构和通信协议、分析了它们用于数控系统现场总线存在的优缺点。提出了基于以太网透明模型的数控系统分级实时通信与同步体系结构。
针对数控系统现场总线的硬实时通信和精确时间同步要求,将实时通信和同步操作结合起来,提出了一种实时通信和精确时间同步算法,在通信周期不变的基础上完成了精确时间同步功能。
基于实时通信和精确时间同步算法,提出了一种实时通信和精确时间同步协议,并研究了总线传输及可靠性通信技术。设计了具体的实现方案,使实时通信和同步操作成为一个和谐的整体,达到互相兼顾、避免干扰和减轻负载的目的。
提出了一种基于混合任务模型的动态现场总线调度算法,有效地解决了包含周期实时任务、非周期实时任务、非实时任务和分时任务在内的混合任务系统在现场总线中的动态多处理器实时调度问题。建立了数控系统现场总线的任务模型及任务的形式化描述,设计了基于任务层次关系和截止时间特性的优先级策略,采用添加关系的方法将分时问题转换为一般问题,设计了现场总线调度算法。通过数控系统实时通信与精确时间同步协议的调度实例对算法进行了验证,分析了算法的性能。
开发了一种数控系统现场总线控制器及基于以太网现场总线的数控系统原型样机,对所设计的实时通信、精确时间同步协议及可靠性进行了实验验证和分析。
The pulse or analog interface standard is still used in communication between CNC (Computer Numerical Control) equipment and servos in domestic CNC systems. The behindhand standard has become the bottleneck to the development of high capability CNC system because they cannot meet the requirement of high speed and high precision. To cope with the bottleneck, most of foreign companies use fieldbus for CNC communication among the inner modules. However, these fieldbuses use special hardware equipment, which made them incompatible and high costs. Comparatively, Ethernet technology is mature, low cost and good compatibility. Therefore, the fieldbus for CNC system based on Ethernet technology is one of most important researches for the next generation CNC system. Here, the topic of“Ethernet based CNC fieldbus system”is proposed, and the research is outspread around this topic.
Based on the study of the architecture, communication protocol of the foreign popular Ethernet based fieldbus technologies, and the analysis of the merit and demerit of these technologies, a hierarchical real-time communication and time synchronization architecture for the networked CNC system based on Ethernet/Internet is proposed.
To cope with the hard real-time communication and precise time synchronization of the field network, an optimized real-time communication and precise time synchronization arithmetic is proposed, which can finish precise time synchronization in an un-prolonged communication cycle.
Based on the optimized real-time communication and precise time synchronization arithmetic, a real-time communication and time synchronization protocol for CNC fieldbus system is proposed. The reliability of the protocol is studied and the solution is designed. Because the protocol gives attention to real-time communication and time synchronization synchronously, the real-time communication and time synchronization can be operated harmoniously, and the interfering and network load caused by time synchronization to the real-time communication can be reduced.
A dynamic fieldbus scheduling arithmetic is proposed to cope with the multi-type task scheduling of CNC system, which can cope with the dynamic scheduling of the task system including cyclic real-time tasks, acyclic real-time tasks, non-real-time tasks and time slot tasks under multi-processor system. The model of the task system is set, and the model is described via formalization method. The priority is defined according to the level and deadline of task. The relation adding is used to normalize the time slot task to general task. The real-time communication and time synchronization scheduling is used as an example to explain the arithmetic and protocol, and the arithmetic is analyzed in time and space cost.
Based on the real-time communication and time synchronization protocol, a CNC fieldbus controller is developed to control the communication and time synchronization operation, and the prototype of CNC system (called HNC-22Me) based on the real-time communication and time synchronization protocol is developed. In the last, the real-time, synchronization, and reliability of the protocol were measured and analyzed via experiments.
研究了国外主流数控系统现场总线技术的体系结构和通信协议、分析了它们用于数控系统现场总线存在的优缺点。提出了基于以太网透明模型的数控系统分级实时通信与同步体系结构。
针对数控系统现场总线的硬实时通信和精确时间同步要求,将实时通信和同步操作结合起来,提出了一种实时通信和精确时间同步算法,在通信周期不变的基础上完成了精确时间同步功能。
基于实时通信和精确时间同步算法,提出了一种实时通信和精确时间同步协议,并研究了总线传输及可靠性通信技术。设计了具体的实现方案,使实时通信和同步操作成为一个和谐的整体,达到互相兼顾、避免干扰和减轻负载的目的。
提出了一种基于混合任务模型的动态现场总线调度算法,有效地解决了包含周期实时任务、非周期实时任务、非实时任务和分时任务在内的混合任务系统在现场总线中的动态多处理器实时调度问题。建立了数控系统现场总线的任务模型及任务的形式化描述,设计了基于任务层次关系和截止时间特性的优先级策略,采用添加关系的方法将分时问题转换为一般问题,设计了现场总线调度算法。通过数控系统实时通信与精确时间同步协议的调度实例对算法进行了验证,分析了算法的性能。
开发了一种数控系统现场总线控制器及基于以太网现场总线的数控系统原型样机,对所设计的实时通信、精确时间同步协议及可靠性进行了实验验证和分析。
The pulse or analog interface standard is still used in communication between CNC (Computer Numerical Control) equipment and servos in domestic CNC systems. The behindhand standard has become the bottleneck to the development of high capability CNC system because they cannot meet the requirement of high speed and high precision. To cope with the bottleneck, most of foreign companies use fieldbus for CNC communication among the inner modules. However, these fieldbuses use special hardware equipment, which made them incompatible and high costs. Comparatively, Ethernet technology is mature, low cost and good compatibility. Therefore, the fieldbus for CNC system based on Ethernet technology is one of most important researches for the next generation CNC system. Here, the topic of“Ethernet based CNC fieldbus system”is proposed, and the research is outspread around this topic.
Based on the study of the architecture, communication protocol of the foreign popular Ethernet based fieldbus technologies, and the analysis of the merit and demerit of these technologies, a hierarchical real-time communication and time synchronization architecture for the networked CNC system based on Ethernet/Internet is proposed.
To cope with the hard real-time communication and precise time synchronization of the field network, an optimized real-time communication and precise time synchronization arithmetic is proposed, which can finish precise time synchronization in an un-prolonged communication cycle.
Based on the optimized real-time communication and precise time synchronization arithmetic, a real-time communication and time synchronization protocol for CNC fieldbus system is proposed. The reliability of the protocol is studied and the solution is designed. Because the protocol gives attention to real-time communication and time synchronization synchronously, the real-time communication and time synchronization can be operated harmoniously, and the interfering and network load caused by time synchronization to the real-time communication can be reduced.
A dynamic fieldbus scheduling arithmetic is proposed to cope with the multi-type task scheduling of CNC system, which can cope with the dynamic scheduling of the task system including cyclic real-time tasks, acyclic real-time tasks, non-real-time tasks and time slot tasks under multi-processor system. The model of the task system is set, and the model is described via formalization method. The priority is defined according to the level and deadline of task. The relation adding is used to normalize the time slot task to general task. The real-time communication and time synchronization scheduling is used as an example to explain the arithmetic and protocol, and the arithmetic is analyzed in time and space cost.
Based on the real-time communication and time synchronization protocol, a CNC fieldbus controller is developed to control the communication and time synchronization operation, and the prototype of CNC system (called HNC-22Me) based on the real-time communication and time synchronization protocol is developed. In the last, the real-time, synchronization, and reliability of the protocol were measured and analyzed via experiments.
引文
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