Multi-axis motion control system application is increasingly popular in modern mechanical manufacturing. With the digitization, high-precision, high-speed, flexibility and intelligence of the motion control technology ,the synchronization between machine axes can be achieved by applying electrical cam, which has gradually replaced the traditional mechanical cam. In order to improve the multi-axis synchronous control performance of electrical cam, we should consider not only a single axis control accuracy and the coordination strategy between machine axes , but also how to express the synchronous relationship by electrical way.The multi-axis synchronous control of the electronic cam not only greatly simplifies the mechanical transmission mechanism which brings machinery manufacturing flexibility, but also improves the flexibility of the whole synchronization system and promotes the production efficiency.Therefore it is one important development direction of current mechanical manufacturing technology. This paper focuses on the research of the multi-axis systems based on electrical cam, with the method of using time as a virtual axis of electrical cam, and aims to realize multi-axis synchronization based on electronic cam. It involves permanent magnet synchronous motor(PMSM) control system design, electronic cam trajectory planning, single-axis tracking, multi-axis synchronization strategy, multi-axis synchronization control, nonlinear friction compensation and other key technologies. The specific work of this paper is summarized as follows： Firstly,the design of the control system of PMSM is studied.PMSM control system is first designed by utilizing the relationship between static and dynamic response performance of PMSM at low, middle and high frequency band, including the designs of the current loop, speed and position loop; Then the hardware and software of PMSM control system designed by our laboratory is introduced. Secondly,aiming at the problem of non-global optimization in existing B-spline trajectory optimization approaches caused by transferring kinematic constraints into control points constraints ,an electronic cam trajectory generation algorithm based on global optimal control points of quintic non-uniform B-spline is proposed. The interval ranges of the reserved free control point variables are calculated first, followed by partitioning and checking the smaller interval with the property of the objective function and kinematical...
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