臺灣博碩士論文加值系統

近年來，國際航太產業隨著全球化經濟發展的趨勢，航空產業運輸量亦隨之逐年成長，進而加劇所對應之航太零組件製造需求量隨之與日俱增，其中包含機體結構、發動機等相關零組件，然而攸關航太精密製造之工具機設備，長久以來皆由外國大廠所壟斷，有鑑於此，行政院遂於2014年提出高值化航太級加工設備與應用整合性計畫，希望結合國內航太產業的終端使用者，打造國產高性能航太工具機設備，導入製造產線進行航太零組件加工驗證，推動國內工具機業者進入航太加工領域，以國產工具機打入國際航太供應鏈為最終目標。
本論文將針對研製網路節點控制器與航太精密製造產線整合進行研究，採用EtherCAT 現場總線做為整體產線通訊，並以 CoE(CANopen over EtherCAT)做為 EtherCAT應用層通訊，透過 TwinCAT 做為主站來建立對各從站節點之網路連線，使用 C#介面對主站進行資料連結建置一套具備實時監控與資料擷取的 SCADA 系統，完善整體產線之間，加工機台與設備間之實時性操作和廠務人員之實時性防護。研製之網路節點控制器主要應用於加工機台上之控制馬達，期使加工件能達到多角度加工為目標。本控制器除了實現基本 EtherCAT 協定網絡通訊物件外，且需符合 CiA402 協定中馬達運動控制之規範，達到與各站節點設備之間的智能通訊。最後因應智能產線整合需求，將透過所設計之介面進行手臂控制功能，如單軸運動模式或座標運動模式，搭配點位、角度回授來完成產線加工件進出料與整體產線排程設定，利用運動學推算機械手臂各軸角度並使用幾何解法來縮減手臂關節角度之運算時間。

In recent years, following the popularity of global aerospace industry, the number of airline passengers has grown year by year. Therefore, the development of new civil aircraft is strong demand. In addition, the corresponding aerospace components are manufactured, and the demand for components such as the aircraft structure and the engine is increasing day by day.
However, the machine tool equipment required for aerospace manufacturing has always been exclusive to foreign tool machine manufacturers, and the domestic aerospace manufacturing industry orders are weak, mainly because the market has insufficient trust. Therefore, in 2014,the Executive Yuan hopes to combine the end users of the domestic aerospace industry to build domestic high-performance aerospace machine tools and equipment, and introduce the manufacturing line to carry out the verification of aerospace components, and then promote the domestic tool machine industry to enter the aerospace processing field. The final goal is to promote the domestic machine tools to enter the international aerospace supply chain.
In this thesis, the development of node controller and the integration of intelligent aerospace manufacturing line is focused and studied by applying the EtherCAT. The CoE (CANopen over EtherCAT) is used as the application-layer protocol and the TwinCAT is used as network communication from master to Slaves. With regard to intelligent production line, the SCADA system is established by C# interface, with real-time monitoring and data acquisitionfunctions to achieve the real-time communication between the operator and the tool machines.
The node controller with EtherCAT is mainly applied to control the movements of each axis motor for tool machine to realize multi-angle metal processing. The proposed controller constructs intelligent communication between all devices, and also needs to implement with the motor motion control specification subjected to the CiA402 protocol. At last, for the integration of intelligent manufacturing line , the designed control interface is also used to the robot arm control function such as single-joint or coordinate motion , position and angle feedback signal to execute the workpiece in and out , and to set the schedule of whole production line.The kinematics method is used to calculate the angle of the axis and shorten the processing time by geometric method.

摘要...i
Abstract...iii
誌謝...v
目錄...vi
表目錄...ix
圖目錄...x
第1章 緒論...1
1.1 研究背景...1
1.2 研究動機...2
1.3 文獻回顧...3
1.4 論文架構...5
第2章 EtherCAT 通訊原理介紹...6
2.1 EtherCAT之結構與組成...6
2.1.1 EtherCAT簡介...6
2.1.2 EtherCAT系統架構...6
2.1.3 EtherCAT之特色與優勢...7
2.2 EtherCAT之運作原理...8
2.3 EtherCAT主站架構...9
2.3.1 EtherCAT 封包傳輸格式...10
2.3.2 EtherCAT 定址方法...13
2.3.3 工作計數器...16
2.3.4 EtherCAT State machine...17
2.4 EtherCAT從站架構...20
2.4.1 EtherCAT 實體層...21
2.4.2 EtherCAT 資料連結層...22
2.4.3 EtherCAT 應用層...28
2.5 小結...32
第3章 運動學原理與分析...33
3.1 運動學...33
3.2 Denavit-Hartenberg(D-H) 連桿坐標系...33
3.3 正向運動學...35
3.4 反向運動學...36
3.4.1 幾何解法...37
3.5 小結...38
第4章 放電加工機節點控制器設計與實現...39
4.1 EtherCAT控制器之系統架構...39
4.2 EtherCAT控制器之硬體架構...40
4.2.1 馬達驅動電路...40
4.2.2 EtherCAT收發電路...41
4.2.3 電流回授電路...42
4.2.4 馬達編碼器回授...43
4.3 EtherCAT控制器之通訊協定...43
4.4 EtherCAT控制器設計與實現...46
4.4.1 控制器設計...46
4.4.2 控制器製作與實測...46
4.4.3 控制器實測結果討論...51
4.5 小結...52
第5章 加工產線網路系統整合之實現...53
5.1 加工產線之規劃...53
5.1.1 產線之建構規劃...53
5.1.2 加工流程與實測方式規劃...54
5.2 產線機具設備介紹...55
5.2.1 放電加工機介紹...56
5.2.2 六軸機械手臂介紹...56
5.2.3 自動光學檢測系統介紹...58
5.3 自動化產線網路系統整合與實測...59
5.3.1 放電加工機EtherCAT網路整合與實測...60
5.3.2 六軸機械手臂EtherCAT網路整合與實測...60
5.3.3 產線監控系統整合與實測...62
5.3.4 放電加工貫孔成果...66
5.4 小結...67
第6章 結論與未來展望...69
6.1 結論...69
6.2 未來展望...69
參考文獻...71
Extended Abstract...77
I. Introduction...79
II. EtherCAT Research...79
III. Kinematics principle and analysis...79
IV. Design and Implementation of EtherCAT Controller...80
V. Node controller area network system implementation and production line integration...82

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