【作者】 李明；

【导师】 游有鹏；

【作者基本信息】 南京航空航天大学 ， 机电控制与自动化， 2020， 硕士

【摘要】 随着实时网络技术的快速发展,网络化运动控制已逐渐成为当代运动控制的主流。本文以Ether CAT通信技术为基础,通过总体方案规划、软硬件设计和高速高平稳运动控制技术研究,在嵌入式平台上完成了基于Ether CAT总线的多轴运动控制器原理样机研发。论文的主要工作与成果如下:(1)分析并设计了基于Ether CAT总线运动控制器的总体开发方案及软硬件架构,针对关键运动控制技术制定了研究方案。(2)通过改造并移植实时Linux操作系统,编译移植开源主站协议栈,搭建了Ether CAT通信主站,并对Ether CAT通信、TCP通信、运动控制等主要功能模块进行了流程设计与软件实现。(3)对高平稳加减速算法与直线段连续运动控制算法进行了重点研究。基于切比雪夫多项式构造了连续的加加速度方程,推导出新型高平稳加减速规划及完整的控制算法;基于动力学方法分析设计了一次规划拐角过渡算法,并进一步形成含有前瞻与动态调整的直线段连续运动控制算法,仿真验证了算法的正确性。(4)利用本文研发的控制器样机搭建多轴控制实验平台,对Ether CAT通信、单轴加减速控制、多轴直线插补等主要功能以及其他软件模块进行了测试。实验结果达到了预期设计目标,为进一步研究奠定了良好基础。更多还原

【Abstract】 This thesis conducted in-depth research on networked motion control technology.By devising the overall scheme,designing software and hardware,researching on high-speed and stable motion control technology,a principle prototype of multi-axis motion controller on the embedded system was completed.The main research work and results of this thesis are as follows:(1)The overall development plan of the motion controller based on the Ether CAT bus and the software and hardware architecture were analyzed and designed,and a research plan was formulated for key motion control technologies.(2)Transformed and transplanted a real-time Linux operating system,compiled and transplanted the open-source master station protocol stack,developed the Ether CAT communication master station,and designed and implemented the main functional modules such as Ether CAT communication,TCP communication,and motion control,etc.(3)The algorithm of high-smooth acceleration and deceleration and algorithm of continuous smooth motion control of straight-line segments were researched.A continuous jerk equation was constructed based on Chebyshev polynomials,from which a new high-stable acceleration and deceleration plan and a complete control algorithm were derived.Based on the kinetic method,a one-step corner transition algorithm was designed,and a further algorithm with forward-looking and dynamic adjustment was formed,and verified by simulation.(4)Used the controller prototype developed in this thesis to build a multi-axis control experimental platform,based on which the Ether CAT communication,single-axis acceleration and deceleration control,multi-axis linear interpolation and other software function modules were tested.The results reached the expected design goals and laid a good foundation for further research.更多还原