硕士学位论文 基于DeviceNet协议的节点开发.doc

基于DeviceNet协议的节点开发  Development of Nodes Based on DeviceNet 摘 要 本文主要进行DeviceNet现场总线技术的研究，在研究的基础上分别用PC机和单片机来开发DeviceNet节点。在进行基于PC机的DeviceNet节点设计时，采用了一块CAN接口卡，并用C++ Bulider实现了DeviceNet应用层协议，这样可以使用PC机所具有的丰富的软件工具和调试手段，在PC上实现的DeviceNet协议可以简单地移植到单片机中。在进行基于单片机的DeviceNet节点设计时，协议控制芯片选用SJA1000，收发器芯片选用82C250，并用C51来移植了DeviceNet应用层协议。基于单片机的DeviceNet节点还作为电动执行机构的智能控制器，从而开发出了带DeviceNet接口的智能执行机构。本文还根据电动执行机构驱动电机的特点，设计了一种简单、实用的执行机构控制算法。 本文所开发的两个DeviceNet节点都与OMRON公司的DeviceNet主站进行连接。基于单片机的节点作为下位机，通过DeviceNet总线接收执行机构的角度设定值，并使用本文所设计的控制算法来准确控制执行机构的角度。基于PC机的节点作为上位机，通过DeviceNet总线监控智能执行机构的控制过程。 在DeviceNet节点的软硬件设计完成后，对DeviceNet节点进行了组网调试，测试证明，本文研制的DeviceNet从站节点完全实现了既定的技术要求，其通信机制遵循DeviceNet协议规范，能接入DeviceNet网络中，与OMRON公司的主站模块能进行实时可靠的通信。本文所设计的执行机构控制算法也也得到了验证，取得了比较好的控制效果，执行机构控制的稳定性好，角度控制精度比较高。 关键词：现场总线 DeviceNet CAN 从站节点 智能执行机构 Abstract This thesis focuses on the research of DeviceNet fieldbus technology, and develops DeviceNet nodes with PC and SCM respectively. When developing the DeviceNet node base on PC, a CAN interface card is used, and the DeviceNet application protocol is implemented by C++ Builder. A lot of software tools and debug tools can be used when programming DeviceNet protocol and the implemented DeviceNet application protocol on PC can be transplanted into SCM easily. When developing the DeviceNet node base on SCM, SJA1000 and 82C250 are chosed as the protocol controller and transceiver, and the implemented DeviceNet application protocol on PC is transplanted into SCM by C51. Then DeviceNet node base on SCM is also used as an intelligent controller for electric actuator, thus an intelligent electric actuator is produced. According to the characteristic of the electric motor of the actuator, a simple and practical control algorithm is designed. The two DeviceNet nodes developed in this thesis are connected to DeviceNet master node of OMRON. The DeviceNet node base on SCM is used as a controller, which receives the angle set value of the actuator, and controls the angle of t