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Alternative TitleDesign of a Programmable Motion Controller Based on SERCOS Bus
Thesis Advisor王云宽
Degree Grantor中国科学院大学
Place of Conferral中国科学院自动化研究所
Degree Discipline控制理论与控制工程
Keyword开放性运动控制器 Sercos 可编程 Scara Open Motion Controller Sercos Programmable Scara
Abstract在工业自动化领域,运动控制器应用广泛,发展迅速,如今,开放式运动控制器成为发展的主流,它有助于降低成本、提高生产效率。国内开放性的成熟产品比较少,不同供应商对开放性的解释不同,其产品大多基于非标准的接口和硬件。本文提出了集成SERCOS主站接口的开放性独立运动控制器设计方案,具体研究内容有: 1.深入分析了SERCOS协议的原理,在此基础上进行了SERCOS主从站接口的设计,并进行了SERCOS接口通讯测试,实现了对从站的正常控制。 2.研究了基于电机运动模型的改进直线型实时速度控制算法和改进的数字积分插补算法,改进的速度控制算法整合了直线型和指数型算法的优点,克服了两者的缺点,能充分利用电机的转矩特性,精确逼近电机的连续速度规律,不使用数据查表,尽量用定点算式计算参数,可实现速度的实时控制,改进的数字积分插补算法提高了插补速度和精度,使插补脉冲均匀化;进行了运动控制器的软硬件设计,基于μC/OS操作系统,实现了用户运动控制程序的编制、解释、执行一体。 3.对运动控制器的典型应用实例SCARA机器人进行了建模分析和工作范围讨论,基于MFC设计了上位机控制软件,以方便运动控制器的使用,并利用上位机软件测试了运动控制器的具体应用,验证了运动控制器的控制能力。 本文设计的运动控制器具有通用性、开放性。集成SERCOS主站接口,是对国内开放性运动控制器领域的一个补充,使运动控制器与伺服装置、PLC等互联无障碍,方便实现多轴控制,提高了系统的分布控制能力,同时,保证了数据传输的快速性、实时性、同步性,目前国内在独立运动控制器上集成SERCOS的成熟产品很少,且对SERCOS接口的研究多为伺服从站,本文的研究具有较大实用价值。
Other AbstractMotion controller is applied widely and develops rapidly in the field of industrial automation. Nowadays Open motion controller has become the mainstream of development as it helps to reduce the cost and improve production efficiency. Interiorly, open mature products are relatively few. Motion controllers are mostly based on non standard interface and hardware as different suppliers have different understanding of openness. This paper presents an open motion controller design of integrating SERCOS master interface. The specific research contents are as follows. 1.The SERCOS slave interface is designed on the basis of analyzing the principle of SERCOS protocol deeply. Besides, the SERCOS interface is tested. The test result shows that SERCOS slave can be controlled normally by master. 2.The improved linear real-time speed control algorithm based on motor model and digital integral interpolation algorithm are studied. The improved speed control algorithm combines the advantages of linear and exponential algorithm. Meanwhile, it overcomes the shortcomings of them. The algorithm can make full use of the torque characteristics of motor and implement accurate real-time approximation of continuous speed regulation without looking up table and using floating number. The improved digital integral interpolation algorithm heightens the speed and precision of interpolation and makes the interpolation pulse well-distributed. Moreover, the hardware and software of motion controller are designed. The compiling, interpreting and executing of motion control user program are implemented. 3.SCARA robot which is a typical application of motion controller is modeled and discussed. To make the motion controller easy-to-use, the host control software based on MFC is designed. In addition, the specific application of motion controller is tested by the host control software to verify the control ability of motion controller. Motion controller designed has generality and openness. Integrating SERCOS master interface is a supplement to the domestic field of open motion controller, making interconnection of motion controller and other motion control devices unobstructed. It also makes multi axis control and the distributed control easier. Meanwhile, it improves rapidity, real-time performance and synchronization. Nowadays, domestic mature independent motion controllers integrating SERCOS are few and most research on SERCOS is about slave. Thus, this study has great practical value.
Other Identifier201228014628014
Document Type学位论文
Recommended Citation
GB/T 7714
刘娜. 基于SERCOS总线的可编程运动控制器设计[D]. 中国科学院自动化研究所. 中国科学院大学,2015.
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