【作者】 刘海燕；

【导师】 陆尧胜；

【作者基本信息】 暨南大学 ， 信号与信息处理， 2007， 硕士

【摘要】 高速高精度运动控制是机械制造业的重要研究领域之一，是数控机床的核心组件。插补模块是运动控制系统的核心模块。高速、高精度、复杂运动轨迹的运动控制技术是当前运动控制技术研究的热点，NURBS曲线插补技术是其典型代表。NURBS插补的实时性体现在控制系统上，NURBS插补时间小于或等于控制系统的设定的插补周期，才可以满足插补技术的实时性。NURBS曲线包含多种不同的频率成分，若包含同执行机构固有频率相同的成分，必然会引起共振。为了解决这个问题，已有文献提出了采用陷波滤波的方式进行处理。基于现有的对NURBS技术的研究工作，实现了基于DSP运动控制器的插补算法。算法采用改进的探索迭代法实现，用一阶差分预估器代替二阶差分预估位置点的偏差器，保证曲线参数u的严格单调增加，以消除插补方向反转和振荡现象。在实现基于DSP插补控制的基础上，对完成插补的数据进行陷波率波处理，插补数据由DSP数据缓冲板经过串口，直接导入PC机进行数据处理及分析。陷波滤波器的设计是基于MATLAB信号处理工具箱。选用直线、圆、星形曲线、桥形曲线四组具有不同几何特征的曲线作为测试目标，完成滤波处理后，根据统计学指标，对其误差进行了评价和分析，主要从速度稳定性和位置精度来讨论。根据仿真结果可知，直线不包含任何频率成分，因此产生的误差很小。圆的位置偏差最小可以控制在4μm，星形和桥形的位置偏差在1μm，完全可以达到高精度的要求，而且速度也很稳定。由此我们可以确定通过陷波滤波解决执行机构的共振问题，可以保证插补的位置精度及速度的稳定。更多还原

【Abstract】 High speed/high precision motion control is an important research area of machinery manufacturing, and is the core of CNC machine tool components. Interpolation module is the core module of motion control system. High-speed, high-precision, complex trajectory of motion control technology is the hot research of current motion control technology. NURBS curve interpolation technique is typical. The real-time of NURBS interpolation reflected in control systems, Only NURBS interpolation time is less than or equal to the control system set interpolation cycle, Interpolation technology meet the real-time nature. NURBS interpolation curve containsa wide range of frequencies, If these frequencies included with the same natural frequency components of implementing agency, it will inevitably cause resonance. To solve this problem, the literature has been used Notch filter mode to handle.Based on the existing research work of NURBS technology, A DSP-based Motion Controller interpolation algorithm have been implemented. By the improved algorithm of exploring iterative interpolation method, the pre-estimate formula in the form of 2-order differential equation have been replaced by pre-estimate formula in the form of 1-order differential equation, confirm the u monotony accession strictly. It could avoid the interpolation direction converse and oscillation.On the basis of implementing the DSP-based interpolation control, interpolation data will be processed by notch filter, interpolation of data obtained from the data buffer plate after of DSP directly into PC by Serial for data processing and analysis. Notch filter design is based on MATLAB Signal Processing Toolbox. Selection four groups of line, circle, star curve, the bridge-shaped curve with different geometrical characteristics as a test target. After filtering, according to statistical indicators, their errors of evaluation and analysis Stability mainly from the speed and position accuracy have been discussion. According to the simulation results, the linear does not contain any frequency components, the resulting error is very small. Yuan smallest deviation of the position can be controlled in 4^μm, the location deviation of star-shaped and bridge-shaped in 1^μm, it is entirely possible to achieve high-precision, and the speed has been very stable. Thus, we can define Notch Filter implementing to solve the problem of resonance with agencies, Interpolation can guarantee the accuracy of the location and speed stability.更多还原