The Development Of Real-time Simulation And Control System Based On XPC

With the development of dynamics of multi-body system,finite element analysis,computer graphics and other techniques,virtual prototyping technology is widely used in the development of mechanical and electrical products.It can greatly reduce the modification of physical prototype,shorten product cycles,low development costs,and improve product performance.However,most of the current virtual prototyping technology mainly for performance prediction and optimization in the prototype design stage,rather than effectively to evaluate the performance in product realization stage,e.g.prototype test and operation,it's information collection and feedback lagging and non-real-time.Real-time simulation and test of virtual prototype can effectively solve the above issue,through HIL,a kind of semi-physical simulation experiments,obtaining performance data of electromechanical products running in real-time,which can guide optimization and upgrading of products.Based on domestic and foreign research status on the Control System-in-theLoop-Simulation,this paper proposes a design on the real-time simulation and control system based on x PC.It focuses on the dynamics modeling of multi-body system,real-time simulation based on x PC,development of Ether CAT master and slave,cyclical process data object in Ether CAT and so on.This present to build the dynamics model of MBS in Robotran,and make the model run on the x PC target in real-time,for which real-time data exchange can occure between model and Linux CNC,a real CNC system,which implements the CNC System-in-the-Loop Simulation.This papert proposes a comprehensive set of solutions about ?Virtual Machine with Real Control?.Firstly,to build the high trueness model in Robotran with a good dynamics modeiling feature,together with Simulink to make model collaborative simulation,in order to implement the ?Virtual Machine?.Secondly,to construct the Ether CAT master and slave according to the characteristics of Ether CAT.The KPA card is inserted in the pci slot of Target PC running the x PC,which make the Target PC become Ether CAT slave;some master softwares are installed in IPC running Linux CNC,which make the IPC become Ether CAT master.Thirdly,to develop procedures about Ether CAT master and slave.Linux CNC provides Comp Tool to build HAL modules to simulate Ether CAT master,and Simulink provides S-function written by C language to drive the ESC.Finally,to write PDO communication codes that implements cyclical PDO between Ether CAT master and slave.These meet the requirement of communication between CNC system and servo drive.Meantime,this paper also successfully carries out a experiment on position loop control of a single axis of MBS.These results show that the real-time simulation and control system based on x PC can be used for development and test of MBS and CNC system,which implement the "Virtual Machine with Real Control".