基于PID控制的交流伺服系统 2Word文档格式.docx
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基于PID控制的交流伺服系统 2Word文档格式.docx
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MotionControllerandtheApplicationofPMACinACServoCNCSystem
XiCHEN1YanboCHE1K.W.ECHENG2
1SchoolofElectricalEngineering&
Automation,TianjinUniversity,TianjinChina.
E-mail:
ybche@
2DepartmentofElectricalEngineering,TheHongKongPolytechnicUniversity,HongKong,
eeecheng@polyu.edu.hk
Abstract–Theconceptandsortsofmotioncontrollerwereintroducedinthispaper,thefeaturesofPMACmotioncontrollerwasexplained,andthemake-upofthenumericalcontrolsystembasedonMINI-PMAC,PCandACServoDriverwasdiscussedindetailincludinghardwarestructureandsoftwaredesigning.Thenadevelopmentexampleofexperimentwasshown.ServocomputeandcontrolintheCNCsystemarebothperformedbyPMAC,whilePCandothergeneralinterfacesactasterminals,thisstructureoffersmoreflexibilityandcanbeusedinawiderangeofapplications.
I.INTRODUCTION
Atypicalmotioncontrolsystemmainlyconsistsofsuperiorcomputer,motioncontroller,powerdrivingdevice,motor,feedbackdetectingsensorandcontrolledobject,asshowninFig.1.Motioncontrolleristhecentreofthecontrolsystemandittakesthecentrallogiccontrolunitasthecore,takesthesensorasthecomponentsensitivetofeedbacksignalandtakesthemotorasthecontrolledobject.Themaintaskofthemotioncontrolleristoperformnecessarylogicandmathematicaloperationsaccordingtosignalsfromthesensorandtherequirementsofcontroltask,thenprovideappropriatecontrolsignalsfordrivingdevice.
II.CLASSIFICATIONOFMOTIONCONTROLLER
Motioncontrollerscanbeclassifedindifferentways.Accordingtothestructure,motioncontrollerscanbedividedintothreeforms:
A.ComputerstandardbusbasedMotioncontroller
Thiskindofmotioncontrollerhasopenarchitectureandisindependentfromcomputer.ItcouldcombinewithcomputerbymanydifferentbussuchasISAinterface,PCIinterface,VMEinterface,RS232interfaceandUSBinterface.MostofthesemotioncontrollersuseDSPormicroprocessorchipasCPUandcouldperformfunctionsincludingmotionplanning,high-speedandreal-timeinterpolation,servofiltercontrol,servodriveandstandardizedgeneralinterfacetoexternalI/O.TheyalsoprovidespowerfulmotioncontrolsoftwarelibrariessuchasClanguagemotionfunctionlibrary,WindowsDLLdynamic-linklibraryandetc.SouserscoulddeveloptheirownapplicationsoftwaresonDOSorWindowsandcreatevariouscontrolsystemsaccordingtotheirownrequirements.ProgrammableMultipleAxesControllerPMACproducedbyAmericanDeltataucompanyisarepresentativeofthiskindofmotion.SimilarproductsincludeTRIOfromBritishAllworldcompany,GTseriesfromGoogolTechnology(Shenzhen)Ltd.andNIseriesfromAmericanNIcompany.
ThemotioncontrollerandPCmakeupamaster-slavecontrolstructure:
PCisresponsibleformanaginghuman-computerinterfaceandmonitoringtheoperatingstateofthecontrolsysteminrealtime,andthemotioncontrollercompletesallthedetailsofthemotioncontroltasksuchasproducingpulseanddirectionsignals,calculatingthetrace,detectinghomeandlimitsignals.TheadvantageofsuchastructureiscombiningPC’sabilitytoprocessinformationandmotioncontroller’sabilitytocontrolmotiontrace.CNCsystemswithopenarchitecturebasedonmotioncontrollerarewidelyusedinequipmentautomationinmanufacturingindustry.ThispaperintroducestheperformancecharacteristicsofPMACanddesignsaPMAC-basedCNCsystemthengivesadevelopmentexample.
B.Softwarebasedopenmotioncontroller
Softwarebasedopenmotioncontrollerprovidesuserswithagreatdealofflexibility.Themotioncontrolsoftwaresareallinstalledinthecomputer,andthehardwareonlyprovidesstandardizedgeneralinterfacestocomputer,toservodriversandexternalI/O,ascomputercouldbeinstalledwithvarioussoundcards,CDROMandcorrespondingdrivers.WiththesupportofWindowsandotheroperatingsystems,userscanobtaindesiredcontrolfunctionsanddevelopvarioushigh-performancemotioncontrolsystem.Sothismotioncontrollerprovidesmorechoiceandflexibilityfortheusers.
C.Embeddedmotioncontroller
Thisisamotioncontrollerinwhichacomputerembeddedanditcouldoperateindependently.Thismotioncontrolleralsocommunicatewithcomputerthroughcomputerbus.Itisavariationofthebusbasedmotioncontrollerinessence.Intheapplicationitconnectstoasuperiorcomputeroracontrolpanelthroughfieldcommunicationinterfacesuch
asIndustrialEthernet,RS485,SERCOSandProfibus.Inaddition,embeddedmotioncontrollercanbeprovidedwithfloppyandharddiskdrivers,evengetremotediagnosisthroughtheInternet,suchasSmart-ControllerfromAmericanADEPTcompany,GUembeddedmotioncontrolplatformseriesproductsfromGoogolTechnology(Shenzhen)Ltd..
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