摘要：
针对目前市场上运动控制器编程语言不兼容、编程方法繁琐等问题,深入研究了基于PLCopen规范的功能块模型设计及圆弧插补算法的工作原理.首先,在试验室现有的"多轴运动控制器+μC/OS-Ⅲ"平台上,选用目前工控界广泛推广的德国3S公司的Codesys软件作为开发平台,以多轴圆弧运动控制功能块作为编程对象,采用结构化文本语言和顺序功能图,设计运动控制功能块.其次,通过在嵌入式系统中移植Codesys SP内核,使硬件平台成为符合IEC编程标准的可编程逻辑控制器,实现底层功能块的接口设计.最后,将设计好的功能块下载到控制器中,在Matlab中进行速度与位移曲线的仿真.仿真结果表明,功能块可达到设计要求,能够完成多轴运动,并可被移植到其他硬件平台上,具有很好的兼容性与复用性.%At present, the programming languages for commercial available motion controllers are not compatible and the programming methods are cumbersome;aiming at these problems, the model design of function module based on specification of PLCopen and the operational principle of arc interpolation algorithm are researched in-depth. Firstly, on the existing "multi-axis motion controller+ μC/OS-Ⅲ" platform in the laboratory, selecting the Codesys software of German 3S Gmbh, that is widely promoted currently in industrial control industry as the development platform, with the multi -axis arc motion control function block as the programming object, using structured text language and sequence function diagram, the motion control function block is designed. Then through transplanting the Codesys SP kernel provided into the embedded system, this makes the hardware platform use as programmable logic controller conforming to IEC programming standards, thus the design of interface for bottom layer function block is realized. Finally, the function block designed is downloaded into controller;then the simulation of speed curve and displacement curve are conducted in Matlab. The simulation results indicate that the function block can meet the design requirements, can complete multi-axis motion, and can be transplanted to other hardware platforms;it has the very good compatibility and reusability.
