整合ROS與PLCopen的工業控制器設計

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姓名

謝易霖(Yi-Lin Hsieh) 查詢紙本館藏

畢業系所

資訊工程學系在職專班

論文名稱

整合ROS與PLCopen的工業控制器設計
(Industrial Controller Design Integrating ROS And PLCopen)

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至系統瀏覽論文 (2024-7-11以後開放)

摘要(中)

工業4.0為工業自動化帶來新的轉變，而PLC在工業自動化扮演極重要的角色。然而在沒有統一規格制定的情況下，各PLC廠商提出不相容的解決方案，PLCopen的出現為PLC制訂了一個可共同遵循的標準，其中包含了程式語法、邏輯控制、運動控制、安全控制等，可免除重新學習他家PLC語法的困擾。另一方面，工業自動化需要一個控制系統做命令部署與狀態監控，開發一套自動化控制系統需耗費大量時間與資源。本論文提出一個基於開源的機器人作業系統ROS，整合為一控制系統與符合PLCopen運動控制標準的平台。透過控制平台的人機介面可以將運動控制命令遠端部署到ROS系統上，當ROS命令節點接收到指令後，即會發布命令話題給所有訂閱話題的運動軸節點，而運動軸節點則會依據命令消息執行符合PLCopen運動控制功能模塊定義的操作。藉由本論文設計的控制架構，可達到快速開發符合工業標準的機器人控制平台，使開源機器人系統能夠擁有符合工業規範的控制功能，達到即時、可靠且具備遠端部署、工業控制、過程監控的功能。

摘要(英)

Industry 4.0 is bringing changes to industrial automation, in which the programmable logistic controller (PLC) plays a vital role. However, in the absence of consistent specifications, various PLC manufacturers have proposed incompatible solutions. PLCopen is a common standard for all PLCs, including program syntax, logic control, motion control, and security control; and when using PLCopen, PLCs are exempt from learning other PLC syntax. Industrial automation requires a control system for command deployment and status monitoring. Considerable time and resources are required to develop an automated control system. This study proposes an open-source-based robot operating system (ROS) that is integrated into a control system and platform conforming to the PLCopen motion control standard. The motion control command can be remotely deployed in the ROS through the human interface of the control platform. When the ROS command node receives the command, the command topic is issued to all the motion axis nodes of the topic subscribed, and the motion axis nodes then perform the operation defined by the PLCopen motion control function module according to the command message. Using the control architecture designed in this study, a robot control platform that conforms to industry standards can be rapidly developed, enabling open-source ROSs to have industry-standard control functions for instant, reliable, and remote deployment, industrial control, and process monitoring.

關鍵字(中)

★ 工業4.0
★ 工業控制器

關鍵字(英)

★ ROS
★ PLCopen

論文目次

摘要 i
Abstract ii
目錄 iii
圖目錄 vii
表目錄 x
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 5
2.1 PLCopen 5
2.1.1 PLCopen邏輯控制 8
2.1.2 PLCopen運動控制 9
2.2 ROS 11
2.2.1 ROS節點 13
2.2.2 ROS話題 14
2.2.3 ROS訊息 14
2.3 MIAT方法論 15
2.3.1 階層式系統架構設計 16
2.3.2 Grafcet離散事件建模 17
第三章、整合控制平台設計 20
3.1 系統架構 21
3.1.1 命令接收模組 22
3.1.2 機器人系統模組 22
3.1.3 狀態監測模組 23
3.2 離散事件建模 24
3.2.1節點控制模組建模 24
3.2.2 命令解析模組建模 25
3.2.3 運動控制模組建模 25
第四章、整合控制平台系統驗證 29
4.1 實驗平台 29
4.1.1 嵌入式開發板 29
4.1.2 六軸機械手臂 30
4.1.3 作業系統 33
4.1.4 ROS系統 33
4.1.5 WEB Server 34
4.1.6 使用程式語言 34
4.2 實驗設計 35
4.2.1 實驗情境一 35
4.2.2 實驗情境二 39
4.2.3 實驗情境三 43
4.2.4 實驗情境四 45
4.2.5 實驗情境五 50
4.3 討論 54
第五章、結論與未來展望 55
5.1 結論 55
5.2 未來展望 56
參考文獻 57

參考文獻

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指導教授

陳慶瀚

審核日期

2019-7-12

推文