【作者】 刘兴华；

【导师】 段其昌；

【作者基本信息】 重庆大学 ， 控制科学与工程， 2012， 硕士

【摘要】 随着多轴伺服同步控制技术在越来越多的行业中的使用，该技术在现今的生产自动化中扮演着非常重要的角色。而信息技术的飞速发展使网络化控制成为了整个工业控制的发展趋势。目前，许多伺服系统仍然受到传统思想的束缚和技术的限制,很多都把伺服控制系统做成一个封闭的系统,严重缺少开放性和方便性。而且许多伺服系统仍然受到结构复杂的传统刚性连接的制约，以及使用PLC控制卡进行集中控制，这使得系统成本较高，而且控制的精度也不能达到较高的要求。本文的研究目的就是将现场总线SERCOS技术与ControlLogix平台结合，满足多轴伺服系统的高精度同步控制要求。本文利用罗克韦尔自动化的实时控制网络平台ControlLogix所具有的联网通信能力，提出了网络分布式多轴同步控制的方法。设计改进了传统的机械刚性连接以及使用PLC运动控制卡集中控制的多轴同步运动控制方法，实现了通过控制多部伺服电机驱动器进行网络化控制的分布式实时同步控制。通过网络在线修改相关的运动控制指令，使之在不同负载和不同速度的情况下都能实现各轴之间的位置、速度同步，从而达到高精度同步控制的目的。并以飞剪定长切割系统为实验研究对象，针对传统飞剪定长切割系统主要采用气压传动控制，且机械结构复杂、定位精度差等缺陷，在本平台设计了基于运动控制器的飞剪定长切割系统，以直接电机控制取代传统气压传动，简化了机械结构且控制方便，定位精度更高。在此基础上，基于Wonderware公司的Intouch软件开发了上位机监控平台，以实现对现场采集数据的处理、保存等操作，构建了多轴伺服系统实验平台。在伺服控制中采用仿人工智能理论(HSIC)，完成了人工智能控制器的设计与仿真，并与最优PID控制算法做了比较，得到了更优的结果。根据实验结果，验证了该实验平台的可行性，该平台的搭建对于利用集成化控制网络技术，提高生产的管理效能和生产效率，节约成本，为高校学生做演示实验以及更方便快捷地研究更多多轴伺服控制系统均有一定的现实意义。更多还原

【Abstract】 With the multi axis servo synchronous control technology used in more and moreindustries, the technology plays a very important role in production automation. And therapid development of information technology makes the network control has becomethe development trend of industrial control. Currently, many servo systems are stilllimited by the shackles of traditional thinking and technology, many of the servo controlsystem are made of a closed system, a serious lack of openness and convenience. Andmany of the servo system is still subject to the complex structure of the constraints ofthe traditional rigid connection, and centralized control by PLC control card, this makesthe system cost much higher and the control accuracy can not meet the higherrequirements. The purpose of this study is combines the fieldbus SERCOS technologyand ControlLogix platform, and meet the high-precision synchronization controlrequirements of the multi-axis servo system.In this paper, we use the networking and communications capabilities ofControlLogix, a real-time control network platform, proposed a method of networkdistributed multi-axis synchronization control.The design breaks the traditionalmechanical rigid connection but uses a method of centralized control of multi-axissynchronized motion control by the PLC motion control card,it has achieved networkcontrol by controlling the servo motor drive，distributed real-time synchronizationcontrol. By modifying relevant motion control command online，the synchronization ofvelocity and position can be aehieved during the load and veloeity change of motor，andthen gain the high accuracy synehronization control.And we make the Flying Shearused to cut to specified length system for experimental study. Because the traditionalflying shear cut to length system adopts pneumatic transmission control,and hascomplexed mechanical structure, defects and poor positioning accuracy,so in thisplatform we design a new cut to specified length system based on motion controller,replace the traditional pneumatic transmission to direct motor control, Simplify themechanical structure and easy to control, have higher positioning accuracy. Under this，we developed the PC monitoring platform based on Intouch software of theWonderware Corporation, to achieve on-site data collection, processing, storage andother operations, build the experimental platform of multi-axis AC servo system.Use theImitation of artificial intelligence theory (HSIC) in the servo control, we completed the design and simulation of artificial intelligence controller, compared with the optimalPID control algorithm and get a better results. In addition, the experimental platformused in cutting sheet flying shear system, and made the program according to theprocess of flyingshear, verify the feasibility of the experimental platform. The greatpractice meaning will be produced for the using of integrated control networktechnology to promote the remote manager may and productive efficiency,save productcost, do demonstration experiments for college students and to study more multi axisservo control system more conveniently and efficiently.更多还原