运动控制器设计及其在喷涂设备中的应用
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摘要
开放式数控系统已经成为了未来数控行业的发展方向。运动控制器作为数控系统中的核心控制器必然要满足开放式数控系统的发展需求。随着微电子技术的发展,DSP和FPGA芯片技术得到了飞速发展,一大批低成本、高性能的DSP和FPGA芯片也随之在市场上出现,运动控制器的核心部件逐渐被DSP和FPGA取代。
论文通过深入研究现有运动控制器的各种实现方案,将DSP作为主控制器,提高了计算能力和控制性能。FPGA实现各种复杂逻辑电路功能,提高了系统的集成度、稳定性、开放性。同时吸收PC/104总线开放式的特点,设计一款软硬件和控制方式上都具备一定开放性、二次开发方便的运动控制器。
论文在运动控制器的硬件和软件总体规划的此基础上,详细设计了运动控制器的硬件电路,采用TI公司的TMS320F2812数字信号处理器作为运算和控制核心,以ALTERA公司的EP2C5T144C8可编程现场门阵列作为电机接口电路的扩展,并介绍了FPGA中各功能模块的电路设计。应用改进的数字PID控制,论文设计了位置伺服控制程序,同时还引入了前馈控制算法来减少位置的跟随误差。鉴于传统喷涂设备在喷涂行业上控制性能的不足,同时发挥运动控制器高速运算能力的优势,论文以五轴喷涂机为研究对象,根据五轴喷涂机的控制需求,设计了基于运动控制器的喷涂系统的软件和硬件。
最后,论文对运动控制器的部分硬件和软件进行了调试,取得了预期的效果。
Open-architecture CNC System has become the direction of NC Industry in future. As the core of a numerical control system, Motion controller must meet the needs of Open-architecture CNC System. With the development of microelectronics technology, DSP and FPGA chip technology has been rapid developed, A large number of low-cost, high-performance DSP and FPGA chips are appearing in the market, The core component of the motion controller was gradually replaced by DSP and FPGA.
In this paper, through deep study of a variety implementations of existing motion controller, The DSP as the main controller, Increased computing power and control performance, FPGA realization of complex logic functions, improved the system integration、stability、openness, Meanwhile absorbing the open characteristics of PC/104 bus. Designed a motion controller, it has hardware and software openness, facilitate to secondary development.
Based on the overall planning of motion controller haredware and software, Paper detailed design of motion controller hard ware circuit. Using TI's TMS320F2812 digital signal processor as a computing and control of the core, ALTERA's EP2C5T144C8 field programmable gate array as a motor interface circuit extension, meanwhile introduced the FPGA circuit design of each functional module.Appicated the improved the digital PID control algorithm,Paper designed position servo control program.,and introduced the feedforward control algorithm to reduce the position following error.As the traditional spraying equipment has no good performance.and show the advantages of high-speed computing power of the motion controller,Paper with five-axis spraying machine as the research object According to five-axis spraying machine control needs,designed hardware and software based on the spraying system.
Finally debugged part of hardware and software of this motion controller, and achieved the desired results.
论文通过深入研究现有运动控制器的各种实现方案,将DSP作为主控制器,提高了计算能力和控制性能。FPGA实现各种复杂逻辑电路功能,提高了系统的集成度、稳定性、开放性。同时吸收PC/104总线开放式的特点,设计一款软硬件和控制方式上都具备一定开放性、二次开发方便的运动控制器。
论文在运动控制器的硬件和软件总体规划的此基础上,详细设计了运动控制器的硬件电路,采用TI公司的TMS320F2812数字信号处理器作为运算和控制核心,以ALTERA公司的EP2C5T144C8可编程现场门阵列作为电机接口电路的扩展,并介绍了FPGA中各功能模块的电路设计。应用改进的数字PID控制,论文设计了位置伺服控制程序,同时还引入了前馈控制算法来减少位置的跟随误差。鉴于传统喷涂设备在喷涂行业上控制性能的不足,同时发挥运动控制器高速运算能力的优势,论文以五轴喷涂机为研究对象,根据五轴喷涂机的控制需求,设计了基于运动控制器的喷涂系统的软件和硬件。
最后,论文对运动控制器的部分硬件和软件进行了调试,取得了预期的效果。
Open-architecture CNC System has become the direction of NC Industry in future. As the core of a numerical control system, Motion controller must meet the needs of Open-architecture CNC System. With the development of microelectronics technology, DSP and FPGA chip technology has been rapid developed, A large number of low-cost, high-performance DSP and FPGA chips are appearing in the market, The core component of the motion controller was gradually replaced by DSP and FPGA.
In this paper, through deep study of a variety implementations of existing motion controller, The DSP as the main controller, Increased computing power and control performance, FPGA realization of complex logic functions, improved the system integration、stability、openness, Meanwhile absorbing the open characteristics of PC/104 bus. Designed a motion controller, it has hardware and software openness, facilitate to secondary development.
Based on the overall planning of motion controller haredware and software, Paper detailed design of motion controller hard ware circuit. Using TI's TMS320F2812 digital signal processor as a computing and control of the core, ALTERA's EP2C5T144C8 field programmable gate array as a motor interface circuit extension, meanwhile introduced the FPGA circuit design of each functional module.Appicated the improved the digital PID control algorithm,Paper designed position servo control program.,and introduced the feedforward control algorithm to reduce the position following error.As the traditional spraying equipment has no good performance.and show the advantages of high-speed computing power of the motion controller,Paper with five-axis spraying machine as the research object According to five-axis spraying machine control needs,designed hardware and software based on the spraying system.
Finally debugged part of hardware and software of this motion controller, and achieved the desired results.
引文
[1]从爽,李泽湘.实用运动控制技术[M].北京:电子工业出版社,2006:1-24.
[2]尔桂花,窦口轩.运动控制系统[M].北京:清华大学出版社,2002:8-10.
[3]刘奎.基于DSP的运动控制系统.开发平台硬件环境的设计与研究[D].天津:天津大学,2005.
[4]张明亮,解旭辉,李圣怡.开放性数控技术的发展[J].机电工程,1999(4):65-67.
[5] Yoram Koren. Real-time Open Control Architecture and System Performance [J]. Annals of the CIRP,1996, 45(1): 377-380.
[6] Raymond E.Chalmers. Open-architecture CNC continue advancing[J]. Manufacturing Engineering , 2001, 127(1): 48-52.
[7] IEEE. Open control system-The importance of Industrial Standard [M].IEEE: 2004, 5-26。
[8]杨晓京,陈子辰.微机数控系统开放体系结构的研究[J].组合机床与自动化加工技术,2003(5):29-30.
[9] Herrin, G.E. Open architecture-who defines it and who benefits [J].Manufacturing Engineering, 1998.121(7): 86-89.
[10]朱国力,段正澄.现代数控系统的特点和发展方向.机械与电子[J].2001,1:52-54.
[11] European Research Will Result in Open CNC Architecture [J].Machinery and Production Engineering,1995(4):7- 8.
[12] S. Fujita. OSEC. open system environment for controller[C].Proceedings of the Seventh MEC Conference: 1996, 234-244.
[13] J.Yen, C. Bailo. Requirements of Open Modular Architecture Controllers for Applications in the Automotive Industry (OMAC) Version1.1 [M].1994.
[14]谢万德.基于DSP的多轴运动控制器的研究[D].浙江:浙江大学,2002.
[15]张宝泉.基于DSP+FGA的多轴运动控制器的研究[D].西安:西安科技大学2005:5-6。
[16]李宏伟.开放式数控系统分布式体系结构及其实现策略的研究[D].天津:天津大学,2005.
[17]朱学军.基于Ethernet的分布式控制系统研究[J].新技术新工艺,2004(2):12-14.
[18]云利军,孙鹤旭,雷兆明,王炜.运动控制网络的研究现状及发展趋势[J].控制工程,2006,13(4):289-293.
[19]李亮,杨光友.基于FPGA可重构运动控制卡系统的研究[J].可编程控制器与工厂自动化,2007,5:53-55.
[20 ]郗志刚,周宏甫.运动控制器的发展与现状[J].电气传动自动化,2005,27(3):10-14.
[21] DELTA TAU Data Systems, Inc. PMAC2 USER MANUAL. 2003.
[22]深圳固高科技有限公司.GT系列运动控制器使用手册.
[23] Zhou Qing-song, Zhang Tie, Wang Hao, Xie Cun-Xi. Research of Painting Robot Control System Based on PMAC[J]. Machine Design and Research,2008:367-368.
[24]史贺男.PLC在自动喷涂机上的应用[J].仪器仪表用户,2005(12):47-48.
[25]范圆圆.现场总线控制系统及其在喷涂设备中的应用[D].上海:上海交通大学,2007.
[26]柳军飞.铁路货车喷涂机器人关键技术的研究[D].武汉:华中科技大学,2007.
[27]石银文.快速发展的机器人自动喷涂技术[J].机器人技术与应用,ABB中国研发中心:2007.
[28]蔡久评,熊中侃.电子电路设计的原则、方法和步骤[J].江西教育学报(综合),2007,28(6):13-16.
[29]刘书明、罗军辉.ADSP SHARC系列DSP应用系统设计[M].北京:电子工业出版社,2003,8-10.
[30]扈宏杰.DSP控制系统的设计与实现[M].北京:机械工业出版社,2004.
[31]王诚,吴继华,范丽珍等.Altera FPGA/CPLD设计(基础篇)[M].北京:人民邮电出版社,2005,3-12.
[32]李贵山,陈金鹏.PCI局部总线及其应用.西安电子科技大学出版社,2003.
[33] PC/104 Embedded Consortium. PC/104 Specification Version 2.5 [S] . 2003.
[34] Rick Lehrbaum. Using PC/104 embedded-PC modules for embedded applications[J].WESCON/'93. Conference Record,1993:633-638.
[35] Zhigang Yao, Chunguang Xu, Dingguo xiao, Shiyuan Zhou. A EMC design for PC104 I/O module[J]. Environmental Electromagnetics,2003:89-93.
[36]刘和平,邓力等.数字信号处理器原理、结构及应用基础—TMS320F28x[M].北京:机械工业出版社,2007:1-3.
[37] Texas Instruments. TMS320F2810, TMS320F2811, TMS320F2812, TMS320C2810, TMS320C2811, TMS320C2812 Digital Signal Processors Datasheet [EB/OL] .[2007-07-17].http://focus.ti.com.cn/cn/lit/ds/symlink/tms320f2812.pdf.
[38] Texas Instruments. TMS320x281x DSP System Control and Interrupt Reference Guide [EB/OL] [2008-03-20]. http://focus.ti.com.cn/cn/lit/ug/spru078e/spru078e.pdf.
[39]苏奎峰,吕强,耿庆锋,陈圣俭.TMS320F2812原理与开发[M].北京:电子工业出版社,2006:395-396.
[40] Altera Corporation. CycloneⅡDevice Handbook, Volume 1[EB/OL]. [2007-05-03].http://www.altera.com.cn/literature/hb/cyc2/cyc2_cii5v1.pdf.
[41]杨恒,李爱国.FPGA/CPLD最新实用技术指南[M].清华大学出版社,2005.
[42] Analog Devices, Inc. Complete Quad, 16-Bit, High Accuracy, Serial Input, Bipolar Voltage Output DACs AD5764 [EB/OL].[2007-11-20].http://www.analog.com/static/imported-files/data_sheets/AD5764.pdf.
[43]姜雪松,王鹰.电磁兼容与PCB设计[M].北京:机械工业出版社,2008:91-92,158-174.
[44]顾会靖.印制电路板设计应注意的几个问题[J].宁夏工程技术,2003,2(2):147-149.
[45]杨智,朱海锋,黄以华.控制器设计与参数整定方法综述[J].化工自动化及仪表,2005,32(5):1-7.
[46]胡庆波,吕征宇.全数字伺服系统中位置前馈控制器的设计[J] .电气传动,2005,35卷(5):24-26.
[47]胡寿松.自动控制原理[M].北京:科学出版社2005:78-79.
[48]柳军飞.铁路货车喷涂机器人关键技术的研究[D].武汉:华中科技大学,2007:36-37.
[49] Code Composer Studio User’s Guide [M]. Texas Intruments,2000.
[50]钱志恒.基于DSP+FPGA的运动控制器研究[D].杭州:杭州电子科技大学,2008.
[2]尔桂花,窦口轩.运动控制系统[M].北京:清华大学出版社,2002:8-10.
[3]刘奎.基于DSP的运动控制系统.开发平台硬件环境的设计与研究[D].天津:天津大学,2005.
[4]张明亮,解旭辉,李圣怡.开放性数控技术的发展[J].机电工程,1999(4):65-67.
[5] Yoram Koren. Real-time Open Control Architecture and System Performance [J]. Annals of the CIRP,1996, 45(1): 377-380.
[6] Raymond E.Chalmers. Open-architecture CNC continue advancing[J]. Manufacturing Engineering , 2001, 127(1): 48-52.
[7] IEEE. Open control system-The importance of Industrial Standard [M].IEEE: 2004, 5-26。
[8]杨晓京,陈子辰.微机数控系统开放体系结构的研究[J].组合机床与自动化加工技术,2003(5):29-30.
[9] Herrin, G.E. Open architecture-who defines it and who benefits [J].Manufacturing Engineering, 1998.121(7): 86-89.
[10]朱国力,段正澄.现代数控系统的特点和发展方向.机械与电子[J].2001,1:52-54.
[11] European Research Will Result in Open CNC Architecture [J].Machinery and Production Engineering,1995(4):7- 8.
[12] S. Fujita. OSEC. open system environment for controller[C].Proceedings of the Seventh MEC Conference: 1996, 234-244.
[13] J.Yen, C. Bailo. Requirements of Open Modular Architecture Controllers for Applications in the Automotive Industry (OMAC) Version1.1 [M].1994.
[14]谢万德.基于DSP的多轴运动控制器的研究[D].浙江:浙江大学,2002.
[15]张宝泉.基于DSP+FGA的多轴运动控制器的研究[D].西安:西安科技大学2005:5-6。
[16]李宏伟.开放式数控系统分布式体系结构及其实现策略的研究[D].天津:天津大学,2005.
[17]朱学军.基于Ethernet的分布式控制系统研究[J].新技术新工艺,2004(2):12-14.
[18]云利军,孙鹤旭,雷兆明,王炜.运动控制网络的研究现状及发展趋势[J].控制工程,2006,13(4):289-293.
[19]李亮,杨光友.基于FPGA可重构运动控制卡系统的研究[J].可编程控制器与工厂自动化,2007,5:53-55.
[20 ]郗志刚,周宏甫.运动控制器的发展与现状[J].电气传动自动化,2005,27(3):10-14.
[21] DELTA TAU Data Systems, Inc. PMAC2 USER MANUAL. 2003.
[22]深圳固高科技有限公司.GT系列运动控制器使用手册.
[23] Zhou Qing-song, Zhang Tie, Wang Hao, Xie Cun-Xi. Research of Painting Robot Control System Based on PMAC[J]. Machine Design and Research,2008:367-368.
[24]史贺男.PLC在自动喷涂机上的应用[J].仪器仪表用户,2005(12):47-48.
[25]范圆圆.现场总线控制系统及其在喷涂设备中的应用[D].上海:上海交通大学,2007.
[26]柳军飞.铁路货车喷涂机器人关键技术的研究[D].武汉:华中科技大学,2007.
[27]石银文.快速发展的机器人自动喷涂技术[J].机器人技术与应用,ABB中国研发中心:2007.
[28]蔡久评,熊中侃.电子电路设计的原则、方法和步骤[J].江西教育学报(综合),2007,28(6):13-16.
[29]刘书明、罗军辉.ADSP SHARC系列DSP应用系统设计[M].北京:电子工业出版社,2003,8-10.
[30]扈宏杰.DSP控制系统的设计与实现[M].北京:机械工业出版社,2004.
[31]王诚,吴继华,范丽珍等.Altera FPGA/CPLD设计(基础篇)[M].北京:人民邮电出版社,2005,3-12.
[32]李贵山,陈金鹏.PCI局部总线及其应用.西安电子科技大学出版社,2003.
[33] PC/104 Embedded Consortium. PC/104 Specification Version 2.5 [S] . 2003.
[34] Rick Lehrbaum. Using PC/104 embedded-PC modules for embedded applications[J].WESCON/'93. Conference Record,1993:633-638.
[35] Zhigang Yao, Chunguang Xu, Dingguo xiao, Shiyuan Zhou. A EMC design for PC104 I/O module[J]. Environmental Electromagnetics,2003:89-93.
[36]刘和平,邓力等.数字信号处理器原理、结构及应用基础—TMS320F28x[M].北京:机械工业出版社,2007:1-3.
[37] Texas Instruments. TMS320F2810, TMS320F2811, TMS320F2812, TMS320C2810, TMS320C2811, TMS320C2812 Digital Signal Processors Datasheet [EB/OL] .[2007-07-17].http://focus.ti.com.cn/cn/lit/ds/symlink/tms320f2812.pdf.
[38] Texas Instruments. TMS320x281x DSP System Control and Interrupt Reference Guide [EB/OL] [2008-03-20]. http://focus.ti.com.cn/cn/lit/ug/spru078e/spru078e.pdf.
[39]苏奎峰,吕强,耿庆锋,陈圣俭.TMS320F2812原理与开发[M].北京:电子工业出版社,2006:395-396.
[40] Altera Corporation. CycloneⅡDevice Handbook, Volume 1[EB/OL]. [2007-05-03].http://www.altera.com.cn/literature/hb/cyc2/cyc2_cii5v1.pdf.
[41]杨恒,李爱国.FPGA/CPLD最新实用技术指南[M].清华大学出版社,2005.
[42] Analog Devices, Inc. Complete Quad, 16-Bit, High Accuracy, Serial Input, Bipolar Voltage Output DACs AD5764 [EB/OL].[2007-11-20].http://www.analog.com/static/imported-files/data_sheets/AD5764.pdf.
[43]姜雪松,王鹰.电磁兼容与PCB设计[M].北京:机械工业出版社,2008:91-92,158-174.
[44]顾会靖.印制电路板设计应注意的几个问题[J].宁夏工程技术,2003,2(2):147-149.
[45]杨智,朱海锋,黄以华.控制器设计与参数整定方法综述[J].化工自动化及仪表,2005,32(5):1-7.
[46]胡庆波,吕征宇.全数字伺服系统中位置前馈控制器的设计[J] .电气传动,2005,35卷(5):24-26.
[47]胡寿松.自动控制原理[M].北京:科学出版社2005:78-79.
[48]柳军飞.铁路货车喷涂机器人关键技术的研究[D].武汉:华中科技大学,2007:36-37.
[49] Code Composer Studio User’s Guide [M]. Texas Intruments,2000.
[50]钱志恒.基于DSP+FPGA的运动控制器研究[D].杭州:杭州电子科技大学,2008.