PLCopen安全控制晶片設計與實作｜國立中央大學博碩士論文系統

簡易檢索 / 詳目顯示

回結果列表

研究生：	蕭憲陽 Sian-Yang Hsiao
論文名稱：	PLCopen安全控制晶片設計與實作 VLSI Design and Implementation of PLCopen SafetyControl
指導教授：	陳慶瀚 Ching-Han Chen
口試委員:
學位類別：	碩士 Master
系所名稱：	資訊電機學院 - 資訊工程學系 Department of Computer Science & Information Engineering
論文出版年：	2017
畢業學年度：	105
語文別：	中文
論文頁數：	115
中文關鍵詞：	安全控制、晶片設計
相關次數：	點閱：10 下載：0
分享至:	分享至facebook 分享至twitter

查詢本校圖書館目錄查詢臺灣博碩士論文知識加值系統勘誤回報

隨著自動化程度的提高以及智慧製造系統複雜度越來越高，故障對於複雜的工程自動化系統越來越不可預測，而這些故障可能帶來對系統造成損壞，甚至對人的生命造成危害。本研究基於PLCopen協會所規範的安全控制功能模組，設計了一個工業安全控制晶片。我們使用MIAT的方法論進行PLCopen安全控制的20個功能模組進行離散事件建模和VHDL硬體合成，再於FPGA進行硬體驗證。自動化系統開發者可從自動化系統的主控制器透過SPI通訊介面將輸入訊號傳送到此一晶片進行安全判斷，並接收安全判斷之結果控制輸出之動作，確保當有異常發生時能夠馬上停止動作。本研究所設計的PLCopen安全控制晶片獨立於動作控制系統之外，具有良好的卸載(offload)硬體執行效能，又兼容於PLCopen標準的自動化設備，既可提升設備安全控制等級，又可以有效縮短自動化系統開發周期。

With the increase of automation and the complexing of intelligent manufacturing system, it has been more unpredictable that system defects affect complicated automated systems. Failures might result in system damages and even hurt human beings lives. In accordance with PLCopen Safety specification, this research designed an industrial safety control chip. Based on the MIAT methodology, the research usetwenty function modules of the PLCopen safety control by utilizing discrete eventmodeling, VHDLhardware synthesis and FPGA hardware verification. By inputting signals to this chip via SPI interface, automatic system developers can do safety judgement from the main controller of automatic systems. In addition, outputs are controlled by results of safety judgement to ensure automatics systems can be stopped immediately when system failure. The PLCopen safety control chip designed by this study is independent out of its action system. It is equipped good effectiveness of hardware offloading and compatible with PLCopen safety automated equipment. The benefits from this design are not only improving safety control levels, but also reducing efficiently development cycles of automated systems.

摘要    i
Abstract    ii
誌謝    iii
目錄    iv
圖目錄    vi
表目錄    viii
第1章    緒論    1
1    研究背景    1
2    研究目的    2
3    論文架構    2
第2章    相關技術回顧    3
1    Safety相關工業技術    3
1.1.    PLCopen safety    3
1.2.    Safety 自動機    4
2    MIAT方法論    7
2.1.    系統架構設計    9
2.2.    Grafcet離散事件建模    11
2.3.    硬體合成    16
3    SPI(Serial Peripheral Interface)    18
第3章    安全控制系統設計    20
1    系統架構    20
2    離散事件建模    22
2.1.    STM32F429安全控制    22
2.2.    STM32F429傳送模組和接收模組    23
2.3.    STM32F429安全功能運算    26
2.4.    FPGA安全控制    27
2.5.    FPGA接收模組和傳送模組    29
2.6.    FPGA控制模組    31
3    Safety Function離散事件建模    34
4    硬體合成    37
5    軟硬體通訊介面    44
第4章    實驗結果與探討    53
1    實驗平台    53
1.1.    嵌入式板    53
1.2.    FPGA    54
1.3.    直流伺服馬達    56
1.4.    微動開關    58
2    實驗環境    59
3    安全控制之驗證    62
3.1.    Equivalent    62
3.2.    Mode Selector    64
3.3.    Emergency Stop    66
4    討論    68
第5章    結論與未來方向    69
1    結論    69
2    未來方向    70
參考文獻    71
附錄    73
A    安全功能模組(Safety Function Block)    73
B    Safety Function之離散事件建模    92

                                

[1] Shaolong Shu, Feng Lin,Fault-Tolerant Control for Safety of Discrete-Event Systems, IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING, VOL. 11, NO. 1, January-2014
[2] Jeremy A. Marvel , Joe Falco, Ilari Marstio , Characterizing Task-Based Human–Robot Collaboration Safety in Manufacturing, IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS: SYSTEMS, VOL. 45, NO. 2, February-2015
[3] Andrea Maria Zanchettin , Nicola Maria Ceriani , Nicola Maria Ceriani , Hao Ding , Björn Matthias , Safety in Human-Robot Collaborative Manufacturing Environments: Metrics and Control , IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING, VOL. 13, NO. 2, April 2016
[4] PLCopen, PLCopen - Technical Committee 5–Safety Software, Jan-2006.
[5] PLCopen. “PLCopen for efficiencyin automation”, [Online] :http://www.plcopen.org/
[6] “Safety Automata” – A new Specification Language for the Development of PLC Safety Applications, Georg Frey, Rainer Drath, Bastian Schlich, Robert Eschbach, IEEE, 2012
[7] C. H. Chen, T. K. Yao, J. H. Dai, and C. Y. Chen, “RETRACTED: A pipelined ultiprocessor system-on-a-chip (SoC) design methodology for streaming signal processing”, Journal of Vibration and Control, vol. 20, no. 2, pp. 163-178, 2014.
[8] R. J. Mayer, "IDEF0 Function Modeling," Air force Systems Command, 1992.
[9] [Online.] IEC website, " International ElectrotechnicalCommission,""http://www.iec.ch"
[10] SPI, “SPI(Serial Peripheral Interface)串列(序列)週邊介面”, [Online] “ http://magicjackting.pixnet.net/blog/post/164725144-spi-(serial-peripheral-interface)-%E4%B8%B2%E5%88%97-(%E5%BA%8F%E5%88%97)-%E9%80%B1%E9%82%8A%E4%BB%8B
[11] SPI,成大資工wiki,[Online].http://wiki.csie.ncku.edu.tw/embedded/SPI#introduction
[12]PLCopen XML解析器設計及其在機械手臂控制應用, 鐘頤安, 中央大學 MIAT實驗室, 5-2017
[13] "STM32F439ZI-High-performance advanced line, ARM Cortex-M4 core with DSP and FPU, 2 Mbytes Flash, 180 MHz CPU, ART Accelerator, Chrom-ART Accelerator, FMC with SDRAM, TFT, HW crypto", ST. [Online]. Available: http://www.st.com/content/st_com/en/products/microcontrollers/stm32-32-bit-arm-cortex-mcus/stm32f4-series/stm32f429-439/stm32f439zi.html.
[14] Terasic – DE系列母板 – Cyclone – Altera DE1多媒體開發平台 , [Online], https://www.terasic.com.tw/cgi-bin/page/archive.pl?Language=Taiwan&CategoryNo=173&No=85&PartNo=1
[15] "AS-6DOF多功能鋁合金機械臂", 奧松機器人官方網站. [Online]. Available: http://www.alsrobot.cn/wiki/index.php/SKU:RB-13K012_AS-6DOF%E5%A4%9A%E5%8A%9F%E8%83%BD%E9%93%9D%E5%90%88%E9%87%91%E6%9C%BA%E6%A2%B0%E8%87%82-%E9%93%B6%E8%89%B2.
[16] "RB-150MG直流伺服馬達", 奧松機器人官方網站. [Online]. Available: http://www.alsrobot.cn/wiki/index.php/SKU:RB-04M006_RB-150MG%E8%88%B5%E6%9C%BA. [Accessed: 16- May- 2017].

簡易檢索 / 詳目顯示

相關論文