交流伺服动态测试系统软件设计与实现
|
摘要
设计一个高精度、可配置、高自动化、符合行业标准的交流伺服动态测试系统,能够量化检测出伺服控制系统的静态性能并掌握其动态特性,从而可以对其性能进行准确的评价并做出有针对性的改进,缩短产品开发周期,提高其控制性能。
本文的目的在于设计并实现一种对数控机床用伺服系统的性能进行测试的实用性工具,为此,采用了嵌入式实时操作系统WindowsCE.NET作为测试系统的运行平台,并重点解决了该系统中的软件部分,分析了系统的性能指标的定义及测试方法、系统的测试原理、软硬件组成、软件平台的搭建及测试软件设计与实现。论文分五部分介绍所做的工作:
第一章为“伺服系统简介”,主要介绍伺服系统的概念、组成结构及伺服驱动技术发展现状。
第二章为“伺服系统性能分析及动态测试原理”,主要分析了伺服测试系统性能指标的定义及其测试方法,测试系统的性能要求,系统的体系结构、伺服控制卡的功能及测试系统工作原理。
第三章为“系统软件平台的搭建”,主要阐述了测试系统软件平台的选择、WindowsCE系统的特征及系统内核定制的具体过程。
第四章为“交流伺服动态测试系统的软件设计与实现”,主要阐明测试软件设计中所采用的主要的技术、软件功能、中断处理程序、线程间通信方法以及软件的体系结构、IO驱动实现和软件的测试流程。
第五章为“测试结果及改进设想”,本章以跟随性测试为例,说明具体的测试过程,并对所测得的数据进行分析,验证测试结果的稳定性。
本课题的研究成果对开发具有自主知识产权、高性能的伺服产品,开展伺服驱动技术研究和扩大伺服产业都具有非常重要的意义。
Designing a configurable AC Servo dynamic testing system which has a high accuracy and automation, complying with national professional standard, can quantify the Servo System’s static performances and master its dynamic characteristics. Then, we can make a proper as well as objective evaluation, and then a pointed improvement can also be made on it. In accordance with the performance estimated, we can improve the Servo System’s controlling performances and its development period can also be shortened.
The purpose of this paper is to design and implement a kind of performance measuring instrument which can be used for testing the CNC machine tool’s servo system. This instrument takes WindowsCE.NET as its running platform. This paper mainly contains several parts as follows:
The first part is a general introduction of the servo system, mainly contains its conception and construction, as well as its development at the present time worldwide and trend in the future.
The second part focus on the servo testing system, including what the system is and what kind of performance criterias it need to test as well as how to compute them. It also includes the construction of the system, and the requirement of its performance. The third part mainly introduces the RTOS WindowsCE.NET’s characteristics and the kernel’s customization.
In the fourth part, this paper presents the implementation of the software including the designing ideas, software’s function and architecture, IST IO driver and its operating procedure.
In the last part, this paper take the Follow Ability as an example and then analyze the data from the test.
The research and development of this subject is a matter of great significance as for launching research into the servo drive technology and enlarging servo industry.
本文的目的在于设计并实现一种对数控机床用伺服系统的性能进行测试的实用性工具,为此,采用了嵌入式实时操作系统WindowsCE.NET作为测试系统的运行平台,并重点解决了该系统中的软件部分,分析了系统的性能指标的定义及测试方法、系统的测试原理、软硬件组成、软件平台的搭建及测试软件设计与实现。论文分五部分介绍所做的工作:
第一章为“伺服系统简介”,主要介绍伺服系统的概念、组成结构及伺服驱动技术发展现状。
第二章为“伺服系统性能分析及动态测试原理”,主要分析了伺服测试系统性能指标的定义及其测试方法,测试系统的性能要求,系统的体系结构、伺服控制卡的功能及测试系统工作原理。
第三章为“系统软件平台的搭建”,主要阐述了测试系统软件平台的选择、WindowsCE系统的特征及系统内核定制的具体过程。
第四章为“交流伺服动态测试系统的软件设计与实现”,主要阐明测试软件设计中所采用的主要的技术、软件功能、中断处理程序、线程间通信方法以及软件的体系结构、IO驱动实现和软件的测试流程。
第五章为“测试结果及改进设想”,本章以跟随性测试为例,说明具体的测试过程,并对所测得的数据进行分析,验证测试结果的稳定性。
本课题的研究成果对开发具有自主知识产权、高性能的伺服产品,开展伺服驱动技术研究和扩大伺服产业都具有非常重要的意义。
Designing a configurable AC Servo dynamic testing system which has a high accuracy and automation, complying with national professional standard, can quantify the Servo System’s static performances and master its dynamic characteristics. Then, we can make a proper as well as objective evaluation, and then a pointed improvement can also be made on it. In accordance with the performance estimated, we can improve the Servo System’s controlling performances and its development period can also be shortened.
The purpose of this paper is to design and implement a kind of performance measuring instrument which can be used for testing the CNC machine tool’s servo system. This instrument takes WindowsCE.NET as its running platform. This paper mainly contains several parts as follows:
The first part is a general introduction of the servo system, mainly contains its conception and construction, as well as its development at the present time worldwide and trend in the future.
The second part focus on the servo testing system, including what the system is and what kind of performance criterias it need to test as well as how to compute them. It also includes the construction of the system, and the requirement of its performance. The third part mainly introduces the RTOS WindowsCE.NET’s characteristics and the kernel’s customization.
In the fourth part, this paper presents the implementation of the software including the designing ideas, software’s function and architecture, IST IO driver and its operating procedure.
In the last part, this paper take the Follow Ability as an example and then analyze the data from the test.
The research and development of this subject is a matter of great significance as for launching research into the servo drive technology and enlarging servo industry.
引文
[1] 李宏胜.数控机床用伺服系统性能测试装置的研究[J].组合机床与自动化加工技术.2001,(07):30-33.
[2] 厉承兆等,数控机床交流伺服驱动单元通用技术条件.北京机床研究所,2001.6.
[3] 郭庆鼎等.现代永磁电动机交流伺服系统[M].中国电力出版社,2006.8.
[4] 王健.现代交流伺服系统技术和市场发展综述[J].伺服控制.2007,(01).
[5] 李永东.交流电机数字控制系统[M].北京:机械工业出版社,2003.
[6] 史勇,谢晓霞.测控系统中的软件抗干扰技术[J].现代电子技术.2006, (19).
[7] 姜山,程君实.WindowsCE 的实时性分析[J].测控技术.2000,19(1).
[8] 单波,徐荔枝,朱灏.提高嵌入式 Linux 实时性方法的研究与应用[J].华北电力大学学报.2006,33(4):65-68.
[9] 周毓林,宁杨,陆贵强等.Windows CE.NET 内核定制及应用开发[M] .北京:电子工业出版社,2005.
[10] 刘小龙,基于 WindowsCE.NET 的数控系统中断体系的研究[J].现代机械.2005(5).
[11] 唐宏,江勇,刘昌云,郑雪燕.基于多线程技术的双缓冲信息存取[J].计算机应用技术研究.2003,(12).
[12] Addison Wesley.Programming with POSIX Threads[M].San Francisco:Morgan Kaufmann Publisher,1997.
[13] 李永冰.实时高速高分辨率信号采集存储与回放[J].国外电子元器件.2007,(04):73.
[14] 胡朝斌,王治森,董伯麟,曹斌.基于 WindowsCE 的数控系统中断控制[J].中国机械工程.2005,16(9):763-764.
[15] 黄艳,李家霁,于东.基于 Wrapper 方法开放式数控系统驱动程序的设计与实现[J].小型微型计算机系统.
[16] Nat Frampton. Interrupt Architecture in Microsoft Windows CE .NET [EB/OL]. http://msdn.microsoft.com/library/default.asp?url=/library/enus/dncenet/html/WinCEInterruptArch.asp.
[17] 陈向群,王雷,马洪宾等.WindowsCE.NET 系统分析及实验教程[M].北京:机械工业出版社,2003.
[18] Douglas Boling,Microsoft WindowsCE 程序设计[M].北京:北京大学出版社,1999.
[19] 汪兵,李存宾,陈鹏.EVC 高级编程及应用开发[M].北京:中国水利水电出版社,2005.8.
[20] 何宗键.WindowsCE 嵌入式系统[M].北京:北京航空航天大学出版社,2006.
[21] Microsoft Windows CE. NET Help from Microsoft Platform BuilderVersion 4. 0[ Z] , J anuary 2002.
[22] Sean Liming , Sal Quintalina. Device Driver Development for Windows CE[ Z] , Available at http :/ / www. annasoft . com ,1998
[23] 陶永华.新型 PID 控制及其应用[M].机械工业出版社,2002.
[24] 关于 PID 控制方法.http://www.xiao-qi.com/mcu/PID.pdf.
[2] 厉承兆等,数控机床交流伺服驱动单元通用技术条件.北京机床研究所,2001.6.
[3] 郭庆鼎等.现代永磁电动机交流伺服系统[M].中国电力出版社,2006.8.
[4] 王健.现代交流伺服系统技术和市场发展综述[J].伺服控制.2007,(01).
[5] 李永东.交流电机数字控制系统[M].北京:机械工业出版社,2003.
[6] 史勇,谢晓霞.测控系统中的软件抗干扰技术[J].现代电子技术.2006, (19).
[7] 姜山,程君实.WindowsCE 的实时性分析[J].测控技术.2000,19(1).
[8] 单波,徐荔枝,朱灏.提高嵌入式 Linux 实时性方法的研究与应用[J].华北电力大学学报.2006,33(4):65-68.
[9] 周毓林,宁杨,陆贵强等.Windows CE.NET 内核定制及应用开发[M] .北京:电子工业出版社,2005.
[10] 刘小龙,基于 WindowsCE.NET 的数控系统中断体系的研究[J].现代机械.2005(5).
[11] 唐宏,江勇,刘昌云,郑雪燕.基于多线程技术的双缓冲信息存取[J].计算机应用技术研究.2003,(12).
[12] Addison Wesley.Programming with POSIX Threads[M].San Francisco:Morgan Kaufmann Publisher,1997.
[13] 李永冰.实时高速高分辨率信号采集存储与回放[J].国外电子元器件.2007,(04):73.
[14] 胡朝斌,王治森,董伯麟,曹斌.基于 WindowsCE 的数控系统中断控制[J].中国机械工程.2005,16(9):763-764.
[15] 黄艳,李家霁,于东.基于 Wrapper 方法开放式数控系统驱动程序的设计与实现[J].小型微型计算机系统.
[16] Nat Frampton. Interrupt Architecture in Microsoft Windows CE .NET [EB/OL]. http://msdn.microsoft.com/library/default.asp?url=/library/enus/dncenet/html/WinCEInterruptArch.asp.
[17] 陈向群,王雷,马洪宾等.WindowsCE.NET 系统分析及实验教程[M].北京:机械工业出版社,2003.
[18] Douglas Boling,Microsoft WindowsCE 程序设计[M].北京:北京大学出版社,1999.
[19] 汪兵,李存宾,陈鹏.EVC 高级编程及应用开发[M].北京:中国水利水电出版社,2005.8.
[20] 何宗键.WindowsCE 嵌入式系统[M].北京:北京航空航天大学出版社,2006.
[21] Microsoft Windows CE. NET Help from Microsoft Platform BuilderVersion 4. 0[ Z] , J anuary 2002.
[22] Sean Liming , Sal Quintalina. Device Driver Development for Windows CE[ Z] , Available at http :/ / www. annasoft . com ,1998
[23] 陶永华.新型 PID 控制及其应用[M].机械工业出版社,2002.
[24] 关于 PID 控制方法.http://www.xiao-qi.com/mcu/PID.pdf.