基于DSP的多轴运动控制器的研究

【作者】 谢万德；

【导师】 傅建中； 陈子辰；

【作者基本信息】 浙江大学 ， 精密仪器及机械， 2002， 硕士

【摘要】 传统的数控系统体系结构是一种封闭式的结构，这种结构既不能适应制造业市场的变化与竞争，也不能满足现代制造业向信息化和敏捷制造模式发展的需要。因此，数控系统体系结构走向开放化已成为必然趋势。运动控制器是数控系统中极为重要的组成部分，开放式数控系统将导致新一代运动控制器的出现。本文在开放式数控系统的基础上，主要对运动控制器进行了研究，并针对基于DSP的步进电机运动控制器进行了设计。 第一章绪论，对数控系统的发展、现状及开放式数控系统体系结构进行分析，并讨论运动控制器在数控系统中的地位及运动控制器的研究现状。 第二章对运动控制器的原理和结构做了分析。研讨了步进电机运动控制器和伺服电机运动控制器的原理及其控制系统的构成，并分析了数控机床的伺服控制系统。 第三章分析了运动控制器的关键技术，着重分析了总线技术、微电子技术和控制理论与伺服控制算法及其在运动控制器中的应用。 第四章集中对DSP的结构特点及DSP在运动控制中的运用进行了研讨，分析了DSP作为运动控制器核心处理器的必要性和优越性。 第五章结合计算机数控雕刻机的研制，针对基于DSP的三轴步进电机运动控制器进行了设计，并详细讨论了其实现方法。 第六章对计算机数控雕刻机系统进行了分析，着重介绍了基于DSP的运动控制器在数控雕刻机中的应用，并进行了运动控制程序的实现。 最后，作者对本文的研究内容进行了总结，并对运动控制器的发展作了展望。更多还原

【Abstract】 The traditional NC(Numerical Control) system is based on a kind of closed architecture. Such architecture makes most of present NC systems not adaptable to the changes and competition of manufacturing industry. It can not either meet the requirement of the development of modern manufacturing toward an information-based and agile model. Therefore, it is an inevitable tendency that the architecture of NC system be open. Motion controller plays a very important role in NC system, so this tendency of open NC system will definitely give rise to new generation motion controller. Based on open NC system, this paper mainly discusses motion controller and implements the design of step motor controller using DSP.In chapter one the evolution and the present situation of NC system are introduced, the open architecture of NC system is analyzed in detail. The role of motion controller in NC system and the research and development of motion controller are demonstrated.Chapter two focuses on the principle and composition of motion controller, step motor and servo- motor are discussed respectively. Also, the servo system of NC system is studied.Chapter three devotes to the key technology of motion controller. Control bus, Micro-electronics, control theory and algorithm, and their application to motion control are fully discussed. ~The architecture of DSP and its application in motion control system are presented in chapter four. In the end of this chapter, the necessity and advantage of using DSP as the key processor in motion controller are given.For the development of NC engraving machine, chapter five designs a 3-axis step motor motion controller. The implementation of the software and hardware of the controller is discussed in detail.Based on the analysis of the recently developed NC engraving machine, the application of DSP-based motion controller for the machine is mainly conducted in chapter six. The program of motion control is implemented.In the end of this paper, a conclusion of the study on DSP-based motion controller is given, and the prospect of motion controller is presented.更多还原