跳到主要內容

簡易檢索 / 詳目顯示

回結果列表
研究生： 鍾頤安
Yi-An Chung
論文名稱： PLCopen XML解析器設計及其在機械手臂控制應用
PLCopen XML Parser Design and Its Applications on Robot Arm Control
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 - 資訊工程學系在職專班
Executive Master 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： 81
中文關鍵詞： GRAFCET虛擬機器 、順序功能圖
外文關鍵詞： IEC 61131-3, Sequential Function Chart
相關次數： 點閱：6  下載：0 
分享至:
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

    • PLC是工業自動化最廣泛使用的設備之一。但PLC的開發環境封閉性，使PLC程式無法在不同品牌PLC之間移植使用，也導致異質性自動化產品間整合的困難，同時也提高的重覆投入的人力成本和開發時間。本研究為了解決此問題，因此基於開放性的PLC標準語言PLCopen研發一個PLCopen XML解析器，針對市售或開源的PLCopen編輯器所輸出標準XML格式的PLC程式，將其轉譯為GRAFCET虛擬機器(GRAFCET Virtual machine，GVM)的編碼表，最後由電腦或遠端網路程式傳送至內建PLCopen執行引擎的GVM控制器來執行PLCopen程式。我們以開源軟體Beremiz的PLCopen編輯器設計三種應用情境的六軸機械手臂控制，來驗證此一PLCopen解析器的功能。本研究所設計的PLCopen XML解析器提高PLC應用程式的可攜性和可移植性，不須依賴特定廠牌PLC及其綁定之開發軟體。

    Programmable logic controllers (PLCs) are commonly used for industrial automation. However, they use a closed development environment; hence, the portability of PLC programs between different brands is precluded, causing integration difficulties between heterogeneous automation products and increases in manpower costs and development time because of the need for repeated input. To solve this problem, this study developed a PLCopen XML parser that is based on the PLCopen, a standardized open PLC. The proposed XML parser converts standard XML-format PLC programs outputted using commercially available or open-source PLCopen editors into a GRAFCET Virtual Machine (GVM) coding table; finally, they are sent using a computer or remote network program to the GVM controller of the in-built PLCopen execution engine, and the PLCopen program is run. The present study used the PLCopen editor of the open-source software Beremiz to design a 6-axis robotic arm controller for three types of application to verify the functionality of the proposed PLCopen parser. The proposed PLCopen XML parser enhanced the portability and transplantability of the PLC program and did not rely on particular brands of PLCs and their binding development software.

    摘要 i Abstract ii 致謝 iii 目錄 iv 圖目錄 vi 表目錄 viii 第一章、緒論 1 1.1研究背景與動機 1 1.2研究目的 3 1.3論文架構 3 第二章、相關技術回顧 4 2.1 PLCopen 4 2.2 PLCopen編輯器 7 2.3 XML解析方法 9 2.3.1簡介 9 2.3.2解析方法 10 2.4 GRAFCET虛擬機器 15 2.4.1基本原理 16 2.4.2核心架構 17 2.4.3參數表 18 第三章、PLCopen解析器設計 24 3.1系統架構 24 3.2 PLCopen轉換功能模組 25 3.2.1 XML解析功能模組 26 3.2.2 SFC資訊整合功能模組 26 3.2.3參數表編碼功能模組 27 3.3 GVM引擎模組 28 3.3.1傳統GVM 引擎的缺點 28 3.3.2 GVM引擎2.0設計 31 3.3.3 GVM中介程式設計 34 3.3.4參數表 40 第四章、系統驗證 45 4.1實驗平台 45 4.1.1嵌入式板 45 4.1.2直流伺服馬達 46 4.1.3微動開關 48 4.1.4通訊模組 48 4.2應用情境 49 4.2.1情境1 50 4.2.2情境2 53 4.2.3情境3 56 4.3與PLC比較 60 第五章、結論與未來方向 61 5.1結論 61 5.2未來方向 62 參考文獻 63 附錄 65

    [1] "Programmable logic controlle", Wikipedia, the free encyclopedia. [Online]. Available: http://en.wikipedia.org/wiki/Programmable_logic_controlle.
    [2] R. Lewis, Programming Industrial Control Systems Using IEC 1131-3 , 1st ed. UK: Institution of Electrical Engineers Stevenage, 1998.
    [3] R. Ramanathan, "The IEC 61131-3 Programming Languages Features for Industrial Control Systems", in World Automation Congress (WAC) , Waikoloa, HI, USA, 2014, pp. 1-6.
    [4] S. Song, X. Lin and Q. Huang, "An Embedded SoftLogic Control System Based on S3C44BOX and IEC 61131-3 Standard", in International Conference on Control and Automation (ICCA) , Guangzhou, CN, 2007, pp. 2060-2064.
    [5] C. Gangurde and R. Khule, "A Review: Embedded PLC", International Journal of Engineering and Technical Research (IJETR) , vol. 3, no. 7, pp. 215-218, 2015.
    [6] "PLCopen開啟中國門", 中華工控網, 2007. [Online]. Available: http://www.gkong.com/item/news/2007/08/11499.html.
    [7] 林似鋒, "一個基於PLCopen的嵌入式可程邏輯控制器快速開發平台", 資訊工程所,國立中央大學, 2014.
    [8] 卓卿安, "智慧聯網應用的即時嵌入式系統虛擬機器設計", 資訊工程所, 國立中央大學, 2013.
    [9] "PLCopen for efficiency in automation", PLCopen. [Online]. Available: http://www.plcopen.org/.
    [10] "PLCopen adds independent schemes to IEC 61131-3", PLCopen. [Online]. Available: http://www.plcopen.org/pages/tc6_xml/xml_intro/.
    [11] E. Estevez, M. Marcos and E. Irisarri, "Analysis of IEC 61131-3 Compliance through PLCope XML Interface", in 7th IEEE International Conference on Industrial Informatic , Cardiff, Wales, UK, 2009, pp . 757-762.
    [12] "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.
    [13] "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.
    [14] "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].
    [15] "PL2303 Usb To Rs232 Ttl Converter Adapter for Aurdino Nano Raspberry PI", AMAZON Shop. [Online]. Available: http://www.amazon.in/PL2303-Converter-Adapter-Aurdino-Raspberry/dp/B00UZERG94?_encoding=UTF8&SubscriptionId=AKIAI46KFZLXD4QVNU7A&camp=2025&creative=165953&creativeASIN=B00UZERG94&linkCode=xm2&tag=shopandrechar-21. [Accessed: 16- May- 2017].

    QR CODE
    :::