基于WinAC和Profibus的大惯量X-Y航车控制系统设计与实现

在开发大惯量X-Y航车工程项目中，既需要多个控制器之间可靠、实时、高刷新频率的数据交互，又需要上位控制计算机具有PC机的强大性能、PLC系统的组态式通信编程功能。该文在综合分析主流通信网络及控制技术优缺点的基础上，创新地提出了以WinAC软逻辑PLC为控制核心，以Profibus现场总线为通信网络，以PC机加RTX实时内核为上位机，以Visual Basic结合第三方控件为人机界面工具的集成设计方案，阐述了软硬件设计流程，并介绍了系统调试结果。实验结果表明，上位机与10台下位机可实现2ms周期的可靠实时数据交换，基于此，总重110吨的X-Y航车在携带船模做直径6m，切向速度1m/s的圆周运动时，实现了位置误差小于±2%、角度误差小于±0.5°的精度。

Design and implementation of large inertia X-Y ship model towing carriage control system based on WinAC and Profibus

In the development of large inertial X-Y ship model towing carriage, it not only needs reliable, real-time and high refresh frequency of data exchange between multiple controllers, but also needs upper control computer with powerful performance of PC and configuration communication programming function of PLC system. On the basis of comprehensive analysis of the mainstream communication network and control technology, this paper proposed an innovative and integrated design scheme, with WinAC as the control core , Profibus fieldbus as the communication network, PC plus RTX Real-time Kernel as Upper Computer, Visual Basic combined with third-party controls as man-machine interface development tools. Next, the hardware and software design processes are described, and the results of the system debugging are introduced. It provides good reference function for similar engineering equipment design.Experimental results show that the upper computer and the 10 lower computers can achieve reliable real-time data exchange of 2ms cycle. Based on this, the X-Y ship model towing carriage with a total weight of 110 tons can achieve the accuracy of position error less than ±2% and the angular error is less than ±0.5° when carrying the ship model to make circular motion of 6m in diameter and 1m/s in tangential velocity.