【作者】 余张国；

【导师】 李众立；

【作者基本信息】 西南科技大学 ， 控制理论与控制工程， 2005， 硕士

【摘要】 运动控制器在运动控制系统中处于核心的支配地位。随着运动控制技术的不断进步和完善,开放式、高性能、低成本、通用嵌入式运动控制器的发展成为市场的必然需求。论文的主要目标是建立一种适用于数控系统和机器人的高性能、低成本、通用嵌入式运动控制器的基础软、硬件平台并对其应用进行研究。论文做了如下四个方面的工作。首先,在研究运动控制系统的基础上,比较了几种运动控制器方案,提出基于嵌入式 ARM 微控器和专用运动控制 DSP 来设计适用于机床数控和机器人控制的通用的多轴嵌入式运动控制器的方案。其次,规划了运动控制器的硬件体系,设计了基于 MCX314A 和 LPC2214的通用多轴联动嵌入式运动控制器的硬件。研究了 LPC2214 对 MCX314A 的操作方法,设计了运动控制器的基础软件。然后,研究了运动控制器应用于铣床数控改造的应用方法,改造后的数控铣床能正确实现 CNC 代码的效果。最后,研究了运动控制器应用于天府 I 型机器人的应用方法。分析天府I 型机器人控制器的基本结构,提出替换原 TF-1 型机器人控制器的策略。研究了天府 I 型机器人的正、逆运动学特性。设计并实现了示教再现方式下点位控制的软、硬件。更多还原

【Abstract】 A motion Controller usually dominates in a motion control system. As themotion control technologies progress continually and achieve maturation, thedevelopment of open architecture, high performance, low cost and general-purpose embedded motion controllers become the inevitable demand of themarket. The main aim of this thesis is to establish a kind of software andhardware platform of high performance, low cost and general purpose embeddedmotion controller, which suites for numerical control and robot control. Thisthesis mainly achieves the following four results.Firstly, several motion controller solutions are compared with each otherafter research of the motion control systems. Then this thesis presents anembedded multi-axes motion general-purpose controller solution based onembedded ARM MCU and delicated DSP chip for motion control, which suitesfor numerical control and robot control.Secondly, the hardware architecture of motion control is planned out. Thehardware of motion control based on MCX314A and ARM MCU is designed.And then the method to operate MCX314A is researched .The basic software ofmotion control is designed.Thirdly, the method how to apply the motion controller to milling machinereform is researched. The milling machine can perform the CNC code andachieve the code effect.Finally, the application method how to apply the motion controller to TF-1robot is researched. The structure of TF-1 robot is analyzed and a replaceablestrategy is presented. The positive and inverse kinematics solution is obtained.And then the software and hardware of TF-1 robot under teach-play mode isdesigned.更多还原