摘要
计算机数控(CNC)技术是集成计算机数控技术、电机驱动技术、精密机构设计和制造技术等为一体发展起来的高新技术。在计算机数控技术基础上,研究和开发一款基于计算机数控的高性能数控运动控制卡是本文的研究目的。
运动控制系统是机器人控制系统的重要组成部分,而运动控制卡是运动控制系统的核心。高性能的运动控制系统经历了由封闭式向开放式结构的发展。本论文主要对运动控制卡进行了研究,采用DSP与FPGA相结合的技术设计了三轴运动控制卡,应用于数控焊接机器人运动控制系统,DSP芯片具有大容量数据处理能力,FPGA具有可编程性、高集成度的特点,使得控制系统更具模块化且更加开放化,增加了机器人工作的灵敏度与柔性。
本文对DSP和FPGA在三轴运动控制系统中的应用进行详细的规划设计。主要内容有:1.通过对开放式数控系统、运动控制卡等行业现状的全面调研,基于对运动控制系统的深入学习,根据系统的要求,确定了基于DSP和FPGA的运动控制设计方案,论文介绍了系统的硬件组成和软件设计;2.针对运动控制中的一些具体问题,如速度控制、高精度插补、DSP性能提高等,提出了各自的解决方案,并且在DSP程序设计中得以实现。例如:采用时间分割法的直线插补和圆弧插补;圆弧插补在定点DSP中的计算性能的提高以及精度的提高,速度控制的匀加速处理等;3.控制卡的指令是来自上位机PC的,论文还设计通信协议实现数据压缩,出错处理以保证数据通信的高效和准确性;4.本文最后对设计出的运动控制卡在三轴CNC数控机床系统上进行调试和加工测试,总结实验结果进一步完善系统;5.本文的创新之处在于,相对于以前的基于PC的在线控制,离线使用控制板卡也可以控制数控机床的稳定移动,成本大大降低,且更加稳定,更加可靠。
Computerized Numerical Control(CNC)is high-tech in which CNC, motor driver technology, precision mechanical design and manufacture, and etc. are integrated. The main purpose of this dissertation is to research and develop a sort of high-powered motion control card based on CNC system.
Motion control system is the important part of the robot control system. And motion control card is the core of motion control system. Motion control system of high performance develops from close structure to open structure. This dissertation focuses research on the design of the motion control card, which applies the DSP and FPGA technology in motion control over 3-axis machine, and using it to motion control system of numerical control welding robot. The ability of large capacity data-handling of the DSP and the feature of high integration and programmable of the FPGA help make the control system opener and more modularization. In consequence the robots would work flexibility and sensitivity.
This paper provides the detailed design about the application of DSP and FPGA technology in motion control over 3-axis system. There are the following major contents: 1.Through the overall survey of Open Numerical Control System and Motion Control Card, and deep study of Motion Control Technology, we established the plan of the design of the motion control system based on DSP and FPGA as it requested. The paper introduces the hardware components and software design of the motion control card. 2. Several solutions are put forward to aim at some problems in the design of the motion control, such as speed controlling, high precision interpolation, and high capability of the DSP. They are all implemented in the DSP programming. For example: line and circle interpolation based on time division principle; the enhancement of precision and performance of the circle interpolation used in the fixed point DSP; process of uniform acceleration in speed controlling, and etc.;3.Because the control command is coming from the superior PC, a protocol is designed to compress the data, and to handle the error. This method guarantees the data communication highly effective and the accuracy.4.Finally, the control card is applied to a 3-axis CNC Numerical Controlled machine. The test experiment is performed and the test result is analyzed to perfect the system.5.In this paper, the innovation lies in the fact that off-line use of the controlling board can control the movement of CNC machine,which is more stable and reliable than the previous PC-based online control.
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