基于DSP+CPLD的多轴运动控制器平台设计及单轴伺服运动控制算法研究
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摘要
随着运动控制系统的发展,运动控制器作为运动控制系统的核心,在现代工业控制中的作用越来越大,其性能直接影响被控对象的工作性能和工作效率。本课题建立在实验室现有平台——六自由度焊接机器人之上,旨在设计一款具有通用特性的多轴运动控制器,以实现焊接机器人焊接过程中实时的轨迹规划及六个关节的协调动作。此外,该运动控制器可应用于一般多轴运动系统的控制。
在充分调研控制器国内外发展的前提下,确定PC机+控制器的总体设计方案。控制器以DSP作为主控单元,辅以CPLD最终完成多轴协调运动。控制过程中,依靠DSP强大的数据处理能力进行电机控制,CPLD进行相关的逻辑控制和I/O扩展,并采用PCI总线与PC机进行通讯,以满足数据传输的速度和稳定性等要求。
CPLD作为系统主控芯片的扩展,完成了众多逻辑控制和I/O扩展的任务。作为本设计的重点,将其按功能进行分类设计。另外,原理图设计成功后的硬件调试也是本论文所作的工作之一,硬件调试步骤、调试内容及调试过程中的常见问题均在论文中得以体现。
伺服电机控制方面,论文在对伺服电机的控制模式做了简单介绍后,确定控制器采用速度控制模式,并对该模式下各个参数的调整、计算给出相关依据。对于电机控制策略,从简单PID入手逐步深入,结合实验结果分析得到驱动器特性曲线,并针对伺服电机控制中存在的死区、零点校正等问题提出解决方案。在电机控制的稳定性方面,结合先进控制算法——模糊控制对电机的PID参数进行在线整定,形成了带死区及速度前馈的模糊PID控制算法。在伺服电机复杂轨迹跟踪过程中,提出五次多项式插补运算,并对其进行改进应用,最终实现控制器运动的精度和速度。
软件上,完成对运动控制器控制功能的实现,包括单电机控制算法以及多电机控制程序总成。论文给出整体算法程序设计流程图,并对关键设计思想进行了详细阐述。
With the development of the motion control system, motion controller, as the core role of the motion control system, has an increasingly effect on the modern industry. Its capability has a direct impact on the controlled object's work performance and work efficiency. The issue is established on the existing laboratory platform - 6 DOF welding robot, and its aim is to design an open, multi-axis motion controller to achieve welding robot's real-time trajectory planning and coordination of the action of the six joints in the welding process. Apart from this, the controller should have properties such as good openness and scalability.
In the full research of motion controllers' development at home and abroad, it is ultimately determined to adopt the PC+controller control program as the overall design of the controller. The controller's main part choose DSP+CPLD as the major control unit, with the powerful data-processing capabilities of DSP to control the motor, programmable logic of CPLD to conduct associated logical control, its cost-effective general-purpose I/O to expand the I/O of DSP, PCI bus to communicate with PC so as to meet the requirements of stability and speed of data transfer.
The application of the programmable logic technology in the process of hardware design and the extension of CPLD chip as a system master have completed a number of logic controls and I/O port expansions. As the focus of this program, this component was classified according to the functions during the designing. In addition, the hardware debugging after the success of the schematic design is one of the main tasks of this thesis. The hardware debugging steps, the debug content and the common problems in the process of debugging are all discussed in the paper.
As for the control algorithm of servo motor, this paper introduces the control mode of servo motor briefly, and adopts the speed control mode in this program in the end, giving the basis to calculate and adjust the various parameters in this mode. As for the motor control strategy, taking simple PID as the starting point, this paper steps down gradually, drawing characteristic curve of the drive with the help of analysis of experimental results, finding the dead zone of servo motor control, zero correction and some other problems, and putting forward a solution to these problems. As for the stability of motor control, this program tries to adjust PID parameters on line through fuzzy control of the motor combined with advanced control algorithms. Eventually it will work out fuzzy PID control algorithms with dead-zone and high-speed feedforward. In the process of tracking the complex trail of servo motors this program proposes cubic polynomial interpolation operations and improvements to its application, and ultimately achieves the movement accuracy and speed of the controller.
As for the software, to complete the motion controller's function and to implement algorithms of single motor and multi-motors on the DSP, this thesis has offered a flow chart of program design of the overall algorithm, and a detailed explanation about the key design concepts.
在充分调研控制器国内外发展的前提下,确定PC机+控制器的总体设计方案。控制器以DSP作为主控单元,辅以CPLD最终完成多轴协调运动。控制过程中,依靠DSP强大的数据处理能力进行电机控制,CPLD进行相关的逻辑控制和I/O扩展,并采用PCI总线与PC机进行通讯,以满足数据传输的速度和稳定性等要求。
CPLD作为系统主控芯片的扩展,完成了众多逻辑控制和I/O扩展的任务。作为本设计的重点,将其按功能进行分类设计。另外,原理图设计成功后的硬件调试也是本论文所作的工作之一,硬件调试步骤、调试内容及调试过程中的常见问题均在论文中得以体现。
伺服电机控制方面,论文在对伺服电机的控制模式做了简单介绍后,确定控制器采用速度控制模式,并对该模式下各个参数的调整、计算给出相关依据。对于电机控制策略,从简单PID入手逐步深入,结合实验结果分析得到驱动器特性曲线,并针对伺服电机控制中存在的死区、零点校正等问题提出解决方案。在电机控制的稳定性方面,结合先进控制算法——模糊控制对电机的PID参数进行在线整定,形成了带死区及速度前馈的模糊PID控制算法。在伺服电机复杂轨迹跟踪过程中,提出五次多项式插补运算,并对其进行改进应用,最终实现控制器运动的精度和速度。
软件上,完成对运动控制器控制功能的实现,包括单电机控制算法以及多电机控制程序总成。论文给出整体算法程序设计流程图,并对关键设计思想进行了详细阐述。
With the development of the motion control system, motion controller, as the core role of the motion control system, has an increasingly effect on the modern industry. Its capability has a direct impact on the controlled object's work performance and work efficiency. The issue is established on the existing laboratory platform - 6 DOF welding robot, and its aim is to design an open, multi-axis motion controller to achieve welding robot's real-time trajectory planning and coordination of the action of the six joints in the welding process. Apart from this, the controller should have properties such as good openness and scalability.
In the full research of motion controllers' development at home and abroad, it is ultimately determined to adopt the PC+controller control program as the overall design of the controller. The controller's main part choose DSP+CPLD as the major control unit, with the powerful data-processing capabilities of DSP to control the motor, programmable logic of CPLD to conduct associated logical control, its cost-effective general-purpose I/O to expand the I/O of DSP, PCI bus to communicate with PC so as to meet the requirements of stability and speed of data transfer.
The application of the programmable logic technology in the process of hardware design and the extension of CPLD chip as a system master have completed a number of logic controls and I/O port expansions. As the focus of this program, this component was classified according to the functions during the designing. In addition, the hardware debugging after the success of the schematic design is one of the main tasks of this thesis. The hardware debugging steps, the debug content and the common problems in the process of debugging are all discussed in the paper.
As for the control algorithm of servo motor, this paper introduces the control mode of servo motor briefly, and adopts the speed control mode in this program in the end, giving the basis to calculate and adjust the various parameters in this mode. As for the motor control strategy, taking simple PID as the starting point, this paper steps down gradually, drawing characteristic curve of the drive with the help of analysis of experimental results, finding the dead zone of servo motor control, zero correction and some other problems, and putting forward a solution to these problems. As for the stability of motor control, this program tries to adjust PID parameters on line through fuzzy control of the motor combined with advanced control algorithms. Eventually it will work out fuzzy PID control algorithms with dead-zone and high-speed feedforward. In the process of tracking the complex trail of servo motors this program proposes cubic polynomial interpolation operations and improvements to its application, and ultimately achieves the movement accuracy and speed of the controller.
As for the software, to complete the motion controller's function and to implement algorithms of single motor and multi-motors on the DSP, this thesis has offered a flow chart of program design of the overall algorithm, and a detailed explanation about the key design concepts.
引文
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[14]余昌盛.基于PCI总线数据采集与运动控制系统研究[D].浙江大学硕士毕 业论文2005.2
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[19]李宏宇.基于PCI总线的多轴运动控制器的研究与开发[D].吉林大学硕士毕业论文2005.8
[20]曹遂军,王会良.国内外开放式数控系统的研究与现状[J].机电工程技术2003(32-5)20-22
[21]陶尚华.浅谈数控技术发展趋势[J].机械与电子2009(19)92
[22]Pritshow G.Open System Controllers-a Chanllenge for the Future of the Machine Tool Industry[C].Annals of the CIRP.1993,42(1):449-452
[23]聂素华,余芸珍.运动控制器的概述及应用[J].科技信息,2006.5:196-198
[24]罗利佳.基于PCI总线的焊接机器人多轴运动控制器设计[D].浙江大学硕士毕业论文2008.6
[25]TPS75733 DATA SHEET,Texas Instruments,2002.5
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[29]朱惠静.PCI9054及其在高速数据采集系统中的应用应用天地[J].27(2)2008.2
[30]丁亮.基于PCI和USB总线的开放式运动控制器开发[D].哈尔滨理工大学硕士毕业论文2006.2
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