基于运动控制器的开放式数控平台的研究
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摘要
数控系统已朝着开放式方向发展,而基于运动控制器结构的开放式系统更是近年来数控技术发展的热点,目前在国内许多系统集成上采用运动控制器开发自己的数控系统,但由于运动控制器只是提供底层的运动控制功能,用户要开发数控系统的话还需要做许多工作。本文的目的是利用运动控制器建立一个开放式的数控平台,该平台提供数控系统一些基本功能模块以及开放式接口,方便用户进行数控系统开发。本文主要包括两个方面的内容:平台架构的研究及平台关键模块的研究。
本文提出了一种分层的数控系统架构,将数控系统的各功能模块按其特点分成实时控制层、NC平台层以及应用层,各层之间通过API接口函数进行通讯。然后基于此架构利用固高公司GTS运动控制器构建了一个开放式数控平台,并且对该平台的主要功能、架构以及模块之间的通信模型和数据接口进行了分析与设计。
本文还对该平台的主要功能模块进行了深入的研究,包括代码解析、刀具补偿和加工路径优化等。代码解析模块利用正则表达式进行词法分析,极大方便了代码解析过程,该模块实现了对ISO规定的常用G代码的支持;刀具补偿功能模块对各种转接模型进行了分析与建模,实现了对加工路径的C功能刀补;加工路径优化模块利用基于多尺度的尖角检测方法实现了对加工路径的准确分段,然后用最优双圆弧拟合的方法对各段进行光顺处理,结果证明该方法对那些带有噪音的加工路径有明显的改善。
The Open-CNC system based on motion controller is a hot spot in recent years.
And more and more system integrators develop their CNC system using motion controller. But the motion controller only provides the basic function of motion control, so the system integrators have a lot of work to do to develop a CNC system. This paper aimed to set up an open CNC platform, which provided most of the basic functions of CNC system, to simplify the system integrator’s work. In this paper, the Open-CNC platform was studied, specifically including the following aspects: the platform architecture and the key modules of the platform.
Platform architecture is the abstract description of the overall functions and structure for the platform. This paper presented a layered architecture for CNC system. It divided the CNC system into real-time control layer, NC platform layer and application layer. Based on this architecture, the structure of the Open-CNC platform based on GTS motion controller of Googol Company was studied, as well as its functions, communication model and interface of NC platform Layer. Meanwhile, some important function modules of this Open-CNC platform were also realized in this paper, such as code interpretation, cutter compensation and tool-path optimization. And all of the function modules committed to the communication model and interface of NC platform layer mentioned above.
本文提出了一种分层的数控系统架构,将数控系统的各功能模块按其特点分成实时控制层、NC平台层以及应用层,各层之间通过API接口函数进行通讯。然后基于此架构利用固高公司GTS运动控制器构建了一个开放式数控平台,并且对该平台的主要功能、架构以及模块之间的通信模型和数据接口进行了分析与设计。
本文还对该平台的主要功能模块进行了深入的研究,包括代码解析、刀具补偿和加工路径优化等。代码解析模块利用正则表达式进行词法分析,极大方便了代码解析过程,该模块实现了对ISO规定的常用G代码的支持;刀具补偿功能模块对各种转接模型进行了分析与建模,实现了对加工路径的C功能刀补;加工路径优化模块利用基于多尺度的尖角检测方法实现了对加工路径的准确分段,然后用最优双圆弧拟合的方法对各段进行光顺处理,结果证明该方法对那些带有噪音的加工路径有明显的改善。
The Open-CNC system based on motion controller is a hot spot in recent years.
And more and more system integrators develop their CNC system using motion controller. But the motion controller only provides the basic function of motion control, so the system integrators have a lot of work to do to develop a CNC system. This paper aimed to set up an open CNC platform, which provided most of the basic functions of CNC system, to simplify the system integrator’s work. In this paper, the Open-CNC platform was studied, specifically including the following aspects: the platform architecture and the key modules of the platform.
Platform architecture is the abstract description of the overall functions and structure for the platform. This paper presented a layered architecture for CNC system. It divided the CNC system into real-time control layer, NC platform layer and application layer. Based on this architecture, the structure of the Open-CNC platform based on GTS motion controller of Googol Company was studied, as well as its functions, communication model and interface of NC platform Layer. Meanwhile, some important function modules of this Open-CNC platform were also realized in this paper, such as code interpretation, cutter compensation and tool-path optimization. And all of the function modules committed to the communication model and interface of NC platform layer mentioned above.
引文
1.石泓,蔡光起,史家顺.开放式数控系统的现状与发展.机械制造,2006,(6): 18-21
2.孙斌,杨汝清.基于PC的数控系统的研究现状和发展趋势.机床与液压. 2001,(4).
3.周济,周艳红.数控加工技术.北京:国防工业出版社, 2002
4.中国机床工具工业协会数控系统分会.从CCMT2008看数控系统发展趋势及国内发展水平.机械工程师,2008,(8):11-12
5. G. Pritschow, Y. Altintas, F. Jovane, etal. Open controller architecture -past, present and future. CIRP Annals- Manufacturing Technology, Volume 50, issue 2, 2001, Pages 463-470.
6. OMAC Users Group (2002) Functional requirements, Version 1.0. Technical report. http://www.arcweb.com/omac/wgs/Architecture/
7. OMAC architecture working group. OMAC baseline architecture functional requirements, version 1.0. http://www.omac.org.
8. P. Lutz, W. Sperling, D. Fichtner and R. Mackay. OSACA—The vendor neutral control architecture. Proc. European Conf. Integration in Manufacturing, 1997, Pages 247 - 256.
9. OSEC (1997) Development of OSEC (open system environment for controller). Technical report. http://www.sml.co.jp/osec/
10.陈友东,樊锐,陈五一.基于RT-Linux的开放式数控系统研究.中国机械工程,2003, 14(16):1419-1422
11.项目总体组.中国开放式数控系统计划(ONC)系统技术规范.2000
12.张正勇,熊清平,李作清. Windows平台下开放式CNC系统研究.中国机械工程,1999,8(8): 878-881
13.迟永琳,明良玉,吴祖育.基于Windows NT和Linux的开放式数控系统.上海交通大学学报,2003,37(1): 44-46
14.李斌.基于构架/构件复用的开放式数控系统研究.华中科技大学博士学位论文,2004,7
15. B. Li, Y. F. Zhou, X. Q. Tang. A research on open CNC system based on architecture/ component software reuse technology, Computers in Industry, September 2004, 55(1):73-85
16. S Park, S. H. Kim and H. Cho. Kernel software for efficiently building, reconfigure-ing, and distributing an open CNC controller. Int J Adv Manuf Technol, 2006, 27(7-8): 788–796
17. X. B Ma, Z. Y. HAN, Y. Z. Wang and H. Y. Fu. Development of a PC-based Open Architecture Software-CNC System. Aeronautics, 2007, 20(3):272-281
18. T. L Hu, C. R. Zhang, RL.Liu and P.Li. Design and implementation of an open CNC core at the shop floor level. Int J Adv Manuf Technol, 2009,40(5-6):541–552
19. H. Wang, K. Chen, S. T. Liu. Research on open architecture controller platform based-on software pattern. Computer Integrated Manufacturing Systems, 2006, 12(3): 446-450
20. Morales-Velazquez, L. and de Jesus Romero-Troncoso, R. and Osornio-Rios, etal. Open-architecture system based on a reconfigurable hardware-software multi-agent platform for CNC machines. Systems Architecture, Sep,2010, 56(9):407-418.
21.陈友东,陈五一,王田苗.基于组件的开放结构数控系统.机械工程学报, 2006,42(6): 188-192
22. F. Xia, A. V. Yakovlev, etal. Data communication in systems with? heterogeneous timing. IG Clark IEEEM icro,2002,22(6):58-69
23.陶耀东,林浒.高性能开放式数控系统架构设计.小型微型计算机系统, 2009, 30(9):1911-1916
24.陶耀东,林浒,雷雯,刘荫忠,胡毅.异步数据传输机制的数控快速串行总线模型研究和协议设计.小型微型计算机系统, 2009,30(7):1388-1392
25.王心光.虚拟数控加工通用G代码编译器的研究.浙江大学硕士论文, 2005,1
26.王凌云,和延立,姚伟.数控系统的刀具半径补偿技术研究.浙江工业大学学报,2005,33(2): 219-222
27. A. Masood, M. Sarfraz, Corner detection by sliding rectangles along planar curves, Computers & Graphics, June 2007, 31(3):440-448
28. M. Sarfraz, A. Masood and M. R. Asim. A new approach to corner detection. Computational Imaging and Vision, 2006, Volume 32:528-533
29. W.Y. Wu. An adaptive method for detecting dominant points. Pattern Recognition, 2003,36:2231-2237
30. A. Rattarangsi and T. C. Roland. Scale-based Detection of Corners of Planar Curves. IEEE Transactions on pattern analysis and machine intelligent, April 1992,14(4): 430-449
31. A. Masood, M. Sarfraz. Capturing outlines of 2D objects with Bezier cubic approximation. Image and Vision Computing, 2009,27:704-712
32. L. A. Piegl and W. Tiller. Data Approximation Using Biarcs. Engineering with Computers, 2002,18(1):59-65
33. D. B. Parkinson, D. N. Moreton. Optimal biarc curve fitting. Computer-Aided Design, 1991,23(6):411–419
34. D. S. Meek, D. J. Walton. Approximation of discrete data by G1 arc splines. Computer-Aided Design, 1992,24(6):301–306
35. A. Hiroshi. 1970. A New Method of Interpolation and Smooth Curve Fitting Based on Local Procedures. ACM, 1970,17(4):589-602
36. L. A. Piegl, W. Tiller. Biarc approcximation of NURBS curves. Computer-Aided Design,2002,34:807-814
37. S. Pal, P. Ganguly, P. K. Biswas, Cubic Bezier approximation of a digitized curve, Pattern Recognition, October 2007,40(10) :2730-2741
38. S. N. Yang, W. C. Du, Numerical methods for approximating digitized curves by piecewise circular arcs, Journal of Computational and Applied Mathematics, Volume
66, Issues 1-2, Proceedings of the Sixth International Congress on Computational and Applied Mathematics, January 1996, 31:557-569
39. X. H. Ma and J. C. Robert. Estimation of end curvatures from planar point data. Proceeding of the 12th IMA international conference on Mathematics of surface XII, 2007:307-319
40. X. J. Yang, Z. Zhong, C. Chen. A practicable approach to G1 biarc approximation formaking accurate smooth and non-gouged profile features in CNC contouring. Computer-Aided Design, November 2006, 38(11):1205-1213
41. Z. Sir, F. Robert, J. Bert, Approximating curves and their offsets using biarcs and Pythagorean hodograph quintics, Computer-Aided Design, June 2006, 38(6):608-618
42. X. N. Yang, G. Z. Wang. Planar point set fairing and fitting by arc splines. Computer-Aided Design,2001,33:35-43
43.刘真爽.运动控制中平面连续小线段轨迹的优化.哈尔滨工业大学硕士论文, 2009,12
44.刘续征,雍俊海,郑国勤,孙家广.约束双圆弧插值.计算机辅助设计与图形学学报,2007,19(1): 1-7
45.虞铭财,杨勋年,汪国昭.整体最优双圆弧拟合.高校应用数学学报A辑, 2004,19(2):225-232
46. GTS运动控制器手册. http://www.googoltech.com
47. FANUC Series 0i Mate-MC OPERATOR'S MANUAL. http://www.fanuc.com
48. W.H Press, S.A Teukolsky, W.T Vetterling, B.P Flannery. Numerical Recipes in C, The Art of Scientific Computing (Second ed.). Cambridge University Press,1999
2.孙斌,杨汝清.基于PC的数控系统的研究现状和发展趋势.机床与液压. 2001,(4).
3.周济,周艳红.数控加工技术.北京:国防工业出版社, 2002
4.中国机床工具工业协会数控系统分会.从CCMT2008看数控系统发展趋势及国内发展水平.机械工程师,2008,(8):11-12
5. G. Pritschow, Y. Altintas, F. Jovane, etal. Open controller architecture -past, present and future. CIRP Annals- Manufacturing Technology, Volume 50, issue 2, 2001, Pages 463-470.
6. OMAC Users Group (2002) Functional requirements, Version 1.0. Technical report. http://www.arcweb.com/omac/wgs/Architecture/
7. OMAC architecture working group. OMAC baseline architecture functional requirements, version 1.0. http://www.omac.org.
8. P. Lutz, W. Sperling, D. Fichtner and R. Mackay. OSACA—The vendor neutral control architecture. Proc. European Conf. Integration in Manufacturing, 1997, Pages 247 - 256.
9. OSEC (1997) Development of OSEC (open system environment for controller). Technical report. http://www.sml.co.jp/osec/
10.陈友东,樊锐,陈五一.基于RT-Linux的开放式数控系统研究.中国机械工程,2003, 14(16):1419-1422
11.项目总体组.中国开放式数控系统计划(ONC)系统技术规范.2000
12.张正勇,熊清平,李作清. Windows平台下开放式CNC系统研究.中国机械工程,1999,8(8): 878-881
13.迟永琳,明良玉,吴祖育.基于Windows NT和Linux的开放式数控系统.上海交通大学学报,2003,37(1): 44-46
14.李斌.基于构架/构件复用的开放式数控系统研究.华中科技大学博士学位论文,2004,7
15. B. Li, Y. F. Zhou, X. Q. Tang. A research on open CNC system based on architecture/ component software reuse technology, Computers in Industry, September 2004, 55(1):73-85
16. S Park, S. H. Kim and H. Cho. Kernel software for efficiently building, reconfigure-ing, and distributing an open CNC controller. Int J Adv Manuf Technol, 2006, 27(7-8): 788–796
17. X. B Ma, Z. Y. HAN, Y. Z. Wang and H. Y. Fu. Development of a PC-based Open Architecture Software-CNC System. Aeronautics, 2007, 20(3):272-281
18. T. L Hu, C. R. Zhang, RL.Liu and P.Li. Design and implementation of an open CNC core at the shop floor level. Int J Adv Manuf Technol, 2009,40(5-6):541–552
19. H. Wang, K. Chen, S. T. Liu. Research on open architecture controller platform based-on software pattern. Computer Integrated Manufacturing Systems, 2006, 12(3): 446-450
20. Morales-Velazquez, L. and de Jesus Romero-Troncoso, R. and Osornio-Rios, etal. Open-architecture system based on a reconfigurable hardware-software multi-agent platform for CNC machines. Systems Architecture, Sep,2010, 56(9):407-418.
21.陈友东,陈五一,王田苗.基于组件的开放结构数控系统.机械工程学报, 2006,42(6): 188-192
22. F. Xia, A. V. Yakovlev, etal. Data communication in systems with? heterogeneous timing. IG Clark IEEEM icro,2002,22(6):58-69
23.陶耀东,林浒.高性能开放式数控系统架构设计.小型微型计算机系统, 2009, 30(9):1911-1916
24.陶耀东,林浒,雷雯,刘荫忠,胡毅.异步数据传输机制的数控快速串行总线模型研究和协议设计.小型微型计算机系统, 2009,30(7):1388-1392
25.王心光.虚拟数控加工通用G代码编译器的研究.浙江大学硕士论文, 2005,1
26.王凌云,和延立,姚伟.数控系统的刀具半径补偿技术研究.浙江工业大学学报,2005,33(2): 219-222
27. A. Masood, M. Sarfraz, Corner detection by sliding rectangles along planar curves, Computers & Graphics, June 2007, 31(3):440-448
28. M. Sarfraz, A. Masood and M. R. Asim. A new approach to corner detection. Computational Imaging and Vision, 2006, Volume 32:528-533
29. W.Y. Wu. An adaptive method for detecting dominant points. Pattern Recognition, 2003,36:2231-2237
30. A. Rattarangsi and T. C. Roland. Scale-based Detection of Corners of Planar Curves. IEEE Transactions on pattern analysis and machine intelligent, April 1992,14(4): 430-449
31. A. Masood, M. Sarfraz. Capturing outlines of 2D objects with Bezier cubic approximation. Image and Vision Computing, 2009,27:704-712
32. L. A. Piegl and W. Tiller. Data Approximation Using Biarcs. Engineering with Computers, 2002,18(1):59-65
33. D. B. Parkinson, D. N. Moreton. Optimal biarc curve fitting. Computer-Aided Design, 1991,23(6):411–419
34. D. S. Meek, D. J. Walton. Approximation of discrete data by G1 arc splines. Computer-Aided Design, 1992,24(6):301–306
35. A. Hiroshi. 1970. A New Method of Interpolation and Smooth Curve Fitting Based on Local Procedures. ACM, 1970,17(4):589-602
36. L. A. Piegl, W. Tiller. Biarc approcximation of NURBS curves. Computer-Aided Design,2002,34:807-814
37. S. Pal, P. Ganguly, P. K. Biswas, Cubic Bezier approximation of a digitized curve, Pattern Recognition, October 2007,40(10) :2730-2741
38. S. N. Yang, W. C. Du, Numerical methods for approximating digitized curves by piecewise circular arcs, Journal of Computational and Applied Mathematics, Volume
66, Issues 1-2, Proceedings of the Sixth International Congress on Computational and Applied Mathematics, January 1996, 31:557-569
39. X. H. Ma and J. C. Robert. Estimation of end curvatures from planar point data. Proceeding of the 12th IMA international conference on Mathematics of surface XII, 2007:307-319
40. X. J. Yang, Z. Zhong, C. Chen. A practicable approach to G1 biarc approximation formaking accurate smooth and non-gouged profile features in CNC contouring. Computer-Aided Design, November 2006, 38(11):1205-1213
41. Z. Sir, F. Robert, J. Bert, Approximating curves and their offsets using biarcs and Pythagorean hodograph quintics, Computer-Aided Design, June 2006, 38(6):608-618
42. X. N. Yang, G. Z. Wang. Planar point set fairing and fitting by arc splines. Computer-Aided Design,2001,33:35-43
43.刘真爽.运动控制中平面连续小线段轨迹的优化.哈尔滨工业大学硕士论文, 2009,12
44.刘续征,雍俊海,郑国勤,孙家广.约束双圆弧插值.计算机辅助设计与图形学学报,2007,19(1): 1-7
45.虞铭财,杨勋年,汪国昭.整体最优双圆弧拟合.高校应用数学学报A辑, 2004,19(2):225-232
46. GTS运动控制器手册. http://www.googoltech.com
47. FANUC Series 0i Mate-MC OPERATOR'S MANUAL. http://www.fanuc.com
48. W.H Press, S.A Teukolsky, W.T Vetterling, B.P Flannery. Numerical Recipes in C, The Art of Scientific Computing (Second ed.). Cambridge University Press,1999
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