【作者】 高军礼；

【导师】 郑时雄； 李迪；

【作者基本信息】 华南理工大学 ， 机械制造及其自动化， 2005， 博士

【摘要】 二十一世纪的制造业所面对的快速多变的市场环境,产品上市周期的大为缩短,用户需求的个性化、多样化等等,这无疑给制造业带来前所未有的压力和竞争。作为制造业的基础关键设备——数控机床在一定程度上决定着我国制造业的水平,而数控机床的中枢控制系统——计算机数控系统(CNC)的性能又直接影响甚至决定着数控机床的综合性能。在制造业面临激烈的竞争和压力的同时,科学技术的快速发展、经济发展的日益全球化也给制造业带来了新的机遇和挑战。为此,本文确立了利用最新的计算机软硬件技术开发新一代的开放式结构CNC 的研究目标,以改变现有封闭式体系结构CNC 难以适应快速多变的市场需求。本文在对统一建模语言(UML)的体系结构、建模理论的研究基础之上,结合传统的软件迭代开发生命周期模型,构建了面向对象的CNC模型驱动快速开发过程。全文以此过程为主线,将CNC的软件开发分为分析、设计、实现和测试四个阶段,并以CNC的手动操作为例,采用实时嵌入式系统建模工具Rhapsody?,详细介绍了模型驱动开发方法在CNC软件开发中的具体应用。该过程同样可应用于采用主从式结构的其它类型控制器的开发。模型驱动开发方法的率先应用将CNC软件开发的抽象层次由传统的代码层提升到了模型层,以使开发者可以更加专注于所要解决的领域问题,而不是繁锁的程序代码,实现了在模型层就可以对系统功能进行测试和验证;由UML模型所自动生成的代码是基于实时框架技术的可以高效地运行于目标平台的代码,并且模型与代码之间可以保持自动关联,因而不但解决了传统系统模型与系统实现之间往往存在脱节的问题,每次迭代开发的生命周期也大为降低,对所开发出的软件的质量有着必要的保障。采用模型驱动开发方法,本文通过多次迭代开发出经过单元测试的运动控制器、辅助设备控制器、数控代码检查器、数控代码解释器等单元UML 模型。然后通过系统集成测试将这些单元集成起来,完成了一个具有软件模块化、可裁剪、可重用、跨平台、易维护、可根据用户需求进行动态重配置的开放式结构CNC UML 模型。通过运用UML2.0 中新增的组合类、状态图继承、端口和语义更加精确化的接口(细分为供给型和需求型)等建模元素,使得该模型在跨平台应用时可以实现高度重用,例如在Win98/2k、Windows CE.NET 两种平台下应用时,只有两个和硬件相关的类不能直接重用,其它的模型元素经过平台相关的编译之后都可以直接重用,同时对系统的扩展或维护也可以很方便地直接在模型设计层进行。在对UML实时建模和实时调度相关理论研究的基础之上,本文首次基于CNC UML模型对CNC的相关实时任务进行了可调度性分析。其方法为,首先使用UML更多还原

【Abstract】 In the 21st century, manufacturing is confronted with fast and changeable market environments: the greatly shortening of the cycle of products coming into the market, diversification and individualization of the user’s requirements, which undoubtedly bring on unprecedented pressure and competition to manufacturing. Numerical control machine tools as the key equipments of manufacturing are determining the level of the manufacturing of our country to a certain extent. The Computer Numerical Controller (CNC) is the central control system of the machine tool, whose comprehensive performance is directly affected and even determined by CNC. While the manufacturing industry is facing keen competition and pressure, the fast progress of science and technology, globalization of economic development bring new opportunity and challenge too. So, this dissertation aims at researching and developing a new generation open architecture CNC with the latest technology of computer software and hardware to change the predicament of existing closed-structure CNC. According to the research on the architecture of Unified Modeling Language (UML) and Modeling theories, this dissertation presents one Object-Oriented CNC Model Driven Rapid Development Process combined on the traditional software iterative lifecycle model. The software development of CNC is divided into four stages: analyzing, design, implementation and testing, according to this process. Taking the manual operation of CNC as an example, using real-time embedded-system modeling tool Rhapsody?, this dissertation introduces the concrete application of Model Driven Development Method in CNC software development in details. This process can be used to the development of the other controller, which adopts the principal and subordinate structure too. The first time application of Model Driven Development Method brings abstract layer of software development from traditional code layer up to the model layer, so that the developer can be absorbed in the specific domain problems instead of cockamamie program codes. It can also test and verify the system function on the model layer. The codes generated automatically from UML model are based on the real-time framework technology and can execute on the target platform efficiently and can change with the UML model synchronously. So this method not only solves the existing disjointed problem between the traditional system model and system implementation but also reduces the iterative lifecycle and guarantees the software quality. Using Model Driven Development Method, this dissertation presents some approved unit UML models such as motion controller, auxiliary equipment controller, numerical control code inspector, numerical control code interpreter, etc. Then an open architecture CNC UML model is acquired through the integration testing of the unit UML models. It can be reconfigured according to the user’s requirement dynamically, can be used in different target platforms and has software modularity. The CNC UML model can be highly reused by dint of modeling elements such as newly-increased composite class, state diagrams inheritance, ports and required (supplied) interfaces with more accurate semanteme in UML2.0. For example, when the model is used in Win98/2k or Windows CE.NET target platform, only two classes associated with hardware can’t be reused. The extension and maintenance of the system are also available on the model layer. Based on the real-time modeling and schedulability analysis theories, we have analysed the schedulability of the relevant CNC real-time tasks on the CNC model layer. The method is as followed: first, labels the relevant real-time attributes (QoS: Quality of Service) of CNC tasks using the stereotypes and tag values, defined in the UML real-time profile. Then we can execute the schedulabiltity analysis by the real-time schedulability analysis tool RapidRMA?, which associates the CNC UML model through the VBA (Visual Basic Application). The analysis result can be fed back to the CNC UML model automatically. The Schedulability of the real-time system can be easily analyzed in multi-phase, such as analysis, design, and system realization using this method. This method also solves the traditional disjointed problem between function and performance in real-time system. This dissertation introduces the process of real-time schedulability analysis of CNC multi-task, taking the CNC automata as an example. Finally, the CNC UML model has been verified on the CNC testbed developed by ourselves. This testbed consists of embedded single board computer (SBC), motion control card and IO card based on DSP. The real-time communication is implemented through the PC104 bus among the SBC, motion control card and IO card. The operation system running on the SBC is Windows CE.NET real-time operation system. Comparing this testbed with the traditional CNC hardware platform, it has the obvious advantages on hardware modularization, reuseability, reliability, real-time performance and cost, etc.更多还原