面向工业机器人控制器的软plc系统软件开发

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1、AbstractDeVelopmentofSoftPLCsystemforIndustrialRobotControUerMScStudent：TANBolongSupenrisor：Prof．MAXudongUⅡiversi锣：SoutlleaStUniVersi妙TheindustrialrobotcontrollersaredevelopingtowardsthestaIldardized，modular，openandembeddedones．SoRPLCSystem，aStheimportantpartofindustrialrobotcontroller，i

2、smailllyresponsibleformelogiccontrolandthefieldbuscommuIlication，aIldc01laborativelyworkswithrobotmotioncontrolsystemtointegraterobotmotioncontr01a11dperipheralprocesscontr01．AimingatdevelopingthesoRPLCsystemsofh榭ewithindependentintellectualpropertyrights，fhnherstudyofmerelatedtechn0109i

3、esanddevelopmentofthesoftPLCsystemso觚areforindustrialmbotcontrollerwmchsuDportsIEC6131—3standardizedprograIllming1anguageispresentedinthisdissenation．SoftPLCsystemsofhzurebeingdeVelopedconsistsoft、Voparts，prograHlmingsystemandmn—timesystem．ThesoftPLCtargetfileisdesignedforconnectingthem．

4、SoRPLCprogmmmingsystemsupportsIEC6113l-3staJldardiZedprograIrIHlinglallguageandproVidesgoodenVironmentf-orediting，compilingandprIDjectconfiguration．BasedonembeddedXenomai+LinuxdualkemelRTOS，softPLCrun．timesvstemisdevelopedtocompletethesoRPLCtargetfileexecution，I／Oandser、rodatarefreshinga

5、ndhumanmachineinteractiontaSk，a11dcooperateswitlltherobotmotioncontroltasktocontroltheindustrialrobotsandperipheralI／Odevices．Firstl弘intllisdissertation，thesoRPLCtechnologyinthepresentsituationofdevelopmentisdiscussed，thedemandofsoftPLCsystemforiIldustrialrobotconm)llerisanalyzed，asetofd

6、esignschemewmchcontainssoRPLCprogr猢ingand枷ngisputfoMrd；Secondly，theself-designedsoftPLCtargetfilefonnatspecificationisdescribed，thedesignofⅡ1eSTlanguagecomp订erbasedonflexandbisontoolsisexpounded，the如nctionssuchasgeneratingmesoRPLCta唱etfileaJldconfiguringI／0a11dservopar锄eterareimplemented

7、；Thjrdly，theprocessofbuildingthesoRPLCEmbeddedplatfonnisdescribedindetail，includingthetransplantprocessofembeddedXenomaiRjrOSandQt／Embeddedgraphicslibra巧onthetargetboard；FinalIy，thetaskpartitioningandcommunicationinterfacedesignofthesoRPLCmn—timesystematXenomai+Linuxdualk