基于DSP的计算机数控系统的应用研究
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摘要
本论文利用计算机软、硬件技术、DSP技术，实现了用于两轴半立式数控铣床装置的计算机数控系统。该系统采用深圳摩信科技有限公司的新产品——基于DSP技术的多轴运动控制器MCT8000F4(核心芯片为TMS320C31)作为下位机，通用PC机作为上位机，构成主从式计算机数控系统。被控对象是一个两轴半立式数控铣床模拟工作平台，系由两套步进电机及其驱动器构成开环系统，通过滚珠丝杠驱动加工平台，铣床铣刀用一支铅笔模拟以绘制刀具中心轨迹。上位PC机主要完成相关参数设定、刀具半径补偿相关运算及绘制被加工工件的轮廓(程编轨迹)、实现本地控制等内容；下位机DSP控制器则充分利用美国TI公司的TMS320C31浮点DSP的高速度、高精度完成运动控制中的实时直线和圆弧数值插补、运动段加减速控制、运动轴行程限位保护等内容。最终根据在PC机上所绘被加工工件的程编轨迹，经过铣刀半径补偿，实时精确地将刀具中心轨迹在两轴半数控铣床模拟工作平台上绘制出来。
本论文共分三大部分：
1．系统硬件组成：介绍了本系统的硬件设计与实现情况。
2．系统相关理论研究与软件设计：主要包括MCT8000F4及DSP基本原理与应用开发、刀具半径补偿、直线和圆弧数值插补、运动段加减速控制等。
3．系统集成：将用Matlab所开发的刀具半径补偿模块、用Java所开发的人机交互控制界面模块、用C语言所开发的DSP主控程序模块以及被控对象作一个系统化集成，从而实现本课题所研究系统的整机联动。
本论文所采用的DSP技术、Matlab技术、Java技术都是当前科技应用研究领域里的“热点”。对本论文的研究内容加以完善和扩展可应用于多轴数控机床，这些技术的成功应用将为今后所开发出的产品抢得市场先机。这对于当前发达国家对我国多轴数控机床实行技术封锁来说有着积极的实际意义和研究价值。
This dissertation realizes one computer numerical control system for two and half axises upright numerical control milling machine using computer software, hardware and DSP technology. This system is one PC-DSP principal and subordinate frame. PC means one general personal computer. DSP implies one MCT8000F4 motion controller (core chip: TMS320C31) made by Shenzhen Motion Technology Co. Ltd. The plant controlled is one simulant for milling machine consisted of two sets of step motor & driver (open system) driving one worktable by ball bearing. One pencil is the simulative milling cutter. Parameters setting, milling cutter radius compensation, graphics drawing of the work-piece machined, realizing local control, etc. are the tasks of PC, while line & arc interpolation, motion segment acceleration & deceleration control, position protection at a high precision rate and so on are the duty of DSP motion controller. In the end, the system can draw the cutter center track of the work piece's program track accurately. This dissertation consists of 3 sections as following.
1. System hardware structure: introduces hardware research & development.
2. System correlative theory research and software design: includes application study on MCT8000F4 & DSP, cutter radius compensation, line & arc interpolation, motion segment acceleration & deceleration control, etc.
3. System integration: integrates the cutter radius compensation, control interface, DSP main program module & controlled plant to realize the whole system linkage well.
The DSP, Matlab and Java technology used by this dissertation are all very popular in the application study field. It can be used for multi-axis numerical control machine tool only if perfects and expands this dissertation's content. The manufactures used the technology mentioned above will have a good market perspective. This is of factual significance and study value under developed country's technique for multi-axis number control machine tool being limited to our country.
本论文共分三大部分：
1．系统硬件组成：介绍了本系统的硬件设计与实现情况。
2．系统相关理论研究与软件设计：主要包括MCT8000F4及DSP基本原理与应用开发、刀具半径补偿、直线和圆弧数值插补、运动段加减速控制等。
3．系统集成：将用Matlab所开发的刀具半径补偿模块、用Java所开发的人机交互控制界面模块、用C语言所开发的DSP主控程序模块以及被控对象作一个系统化集成，从而实现本课题所研究系统的整机联动。
本论文所采用的DSP技术、Matlab技术、Java技术都是当前科技应用研究领域里的“热点”。对本论文的研究内容加以完善和扩展可应用于多轴数控机床，这些技术的成功应用将为今后所开发出的产品抢得市场先机。这对于当前发达国家对我国多轴数控机床实行技术封锁来说有着积极的实际意义和研究价值。
This dissertation realizes one computer numerical control system for two and half axises upright numerical control milling machine using computer software, hardware and DSP technology. This system is one PC-DSP principal and subordinate frame. PC means one general personal computer. DSP implies one MCT8000F4 motion controller (core chip: TMS320C31) made by Shenzhen Motion Technology Co. Ltd. The plant controlled is one simulant for milling machine consisted of two sets of step motor & driver (open system) driving one worktable by ball bearing. One pencil is the simulative milling cutter. Parameters setting, milling cutter radius compensation, graphics drawing of the work-piece machined, realizing local control, etc. are the tasks of PC, while line & arc interpolation, motion segment acceleration & deceleration control, position protection at a high precision rate and so on are the duty of DSP motion controller. In the end, the system can draw the cutter center track of the work piece's program track accurately. This dissertation consists of 3 sections as following.
1. System hardware structure: introduces hardware research & development.
2. System correlative theory research and software design: includes application study on MCT8000F4 & DSP, cutter radius compensation, line & arc interpolation, motion segment acceleration & deceleration control, etc.
3. System integration: integrates the cutter radius compensation, control interface, DSP main program module & controlled plant to realize the whole system linkage well.
The DSP, Matlab and Java technology used by this dissertation are all very popular in the application study field. It can be used for multi-axis numerical control machine tool only if perfects and expands this dissertation's content. The manufactures used the technology mentioned above will have a good market perspective. This is of factual significance and study value under developed country's technique for multi-axis number control machine tool being limited to our country.
引文
1．张雄伟．曹铁勇．DSP芯片的原理与开发应用(第2版)．北京：电子工业出版社．2000．pp1—239．
2．廖效果．朱启逑．数字控制机床．武汉：华中理工大学出版社．1999．pp78—95．
3．刘又午．杜君文．数字控制机床．北京：机械工业出版社．1999．pp37-82．
4．林奕鸿．机床数控技术及其应用．北京：机械工业出版社．1994．pp130-143．
5．焦振兴．微机数控技术．北京：北京理工大学出版社．2000．pp315-442．
6．程卫国等．MATLAB 5.3精要编程及高级应用．北京：机械工业出版社．2000．pp216-225．
7．张宜华．精通MATLAB 5．北京：清华大学出版社．1999．pp72-150．
8．王念旭等．DSP基础与应用系统设计．北京：北京理工大学出版社．2001．pp1-600．
9．刘彦明．Java语言及其程序设计．西安：西安电子科技大学出版社．1997．pp139-157．
10．Bruce Eckel．Java编程思想．京京工作室译．北京：机械工业出版社．2001．pp1-665．
11．刘宝廷．程树康等．步进电动机及其驱动控制系统．哈尔滨：哈尔滨工业大学出版社．1997．pp202-216．
12．章云．谢莉萍．熊红艳．DSP控制器及其应用．北京：机械工业出版社．2001．pp1-35．
13．程金林．周学才．国产 MCT8000 运动控制器的轨迹规划系统．制造业自动化．2001．No．5 pp55-57．
14．王振华等．基于DSP和CAN总线的CNC多轴运动控制器．制造业自动化．2000．3．Vol．22(3)．pp10-13．(国家863计划CIMS领域资助项目)
15．杨建东等．一种高速PC—DSP控制系统．小型微型计算机系统．1997．4．Vol．18(4)．pp51—55．(国防预研及国防预研基金项目资助)．
16．田文超等．数控系统高性能DSP插补通讯模块的设计实现．制造业自动化．2000．6．Vol．22(6)．pp36-38．
17．陆维琦．邵燕．利用 Java 的 SOCKET 实现网上交谈．河海大学常州分校学报．2000．9．Vol．14(3)．pp31-35．
18．高军礼．陈玮．邓则名等．基于DSP技术的多轴运动控制器的应用研究．组合机床与自动化加工技术．2002，No．3．pp3-4，8．
19．高军礼．陈玮．邓则名．基于B／S的数控系统实现方法的研究．计算技术与自动化．2001，No．3．pp310-312．
20．南京四开电子有限公司网上技术资料．WWW．skync．com．cn
21．深圳摩信科技有限公司网上技术资料．WWW．moxin．com
22．张伯鹏．数字化制造是先进制造技术的核心技术．中国自动化在线(www．automation-online．com．Cn)．2000．11
23．胡建华．廖文和等．CNC系统中几种升降速控制曲线的研究与比较．南京航空航天大学学报．1999．Vol．31(6)．pp706—711．
24. Hager, G.J. Integrated motion and programmable logic control cuts system cost. IEE Power Conversion & Intelligent Motion. 1996.4.Vol. 22 (4). pp42-46.
25. Kolek, K. etc. Real time simulation environment for control of high-speed unstable mechanical systems. IEE Proceeding of the Second International Symposium on Methods and Models in Automation and Robotics. 1995. Vol. 1 pp413-418.
26. Stylo, A.W./Diana, G. A low cost, high performance PC based integrated real-time motion control development system. IEEE International Symposium on Industrial Electronics. Proceedings. ISIE'98. 1998.Vol.1. pp127-130.
27. Larsen, G/Cetinkunt, S. Low speed motion control experiments on a single point diamond turning machine using CMAC learning control algorithm. lEE Transactions of the ASME. Journal of Dynamic System, Measurement and control. 1997. pp775-781.
28． Han, S. H. etc. Implementation of a real-time adaptive controller for robotic manipulator using DSP's. IEE Proceedings of IFAC Workshop on Manufacturing Systems: Modeling, Management and Control (MIM' 97) . 1997． pp303-308．
29． Brandstatter, W. A new approach for a DSP-based stepping motor control which eliminates vibrations and allows a common hardware platform for stepping motors and PM brushless motors. IEE Proceeding of 41st International Conference for Power Conversion and Intelligent Motion-PCIM'99． 1999． pp125-130．
30． Moynihan, J. F. High accuracy speed and position calculation for industrial drives using the integrated ADMC401 DSP controller. IEE Proceedings of 41st International Conference for Power Conversion and Intelligent Motion-PCIM'99． 1999． pp279-284．
31． Guk-Chan Han. etc. A high speed machining algorithm for CNC machine tools. IEEE IECON'99． Conference Proceedings. 25th Annual Conference of the IEEE Industrial Electronics Society. 1999． Vol.3． pp1493-1497．
32． TMS320C3X/4X Optimizing C Compiler Users Guide. Texas Instruments. 1998． pp19-260．
33． TMS320C3X/4X Assembly Language Tools Users Guide. Texas Instruments. 1998． pp28-418．
34． TMS320C3X Users Guide. Texas Instruments. 1998． pp12-720． 35． Matsui, N. DSP-based intelligent motor/motion control. IEE Proceedings of the 1995 American Control Conference-ACC' 95． 1995． pp490-494．
2．廖效果．朱启逑．数字控制机床．武汉：华中理工大学出版社．1999．pp78—95．
3．刘又午．杜君文．数字控制机床．北京：机械工业出版社．1999．pp37-82．
4．林奕鸿．机床数控技术及其应用．北京：机械工业出版社．1994．pp130-143．
5．焦振兴．微机数控技术．北京：北京理工大学出版社．2000．pp315-442．
6．程卫国等．MATLAB 5.3精要编程及高级应用．北京：机械工业出版社．2000．pp216-225．
7．张宜华．精通MATLAB 5．北京：清华大学出版社．1999．pp72-150．
8．王念旭等．DSP基础与应用系统设计．北京：北京理工大学出版社．2001．pp1-600．
9．刘彦明．Java语言及其程序设计．西安：西安电子科技大学出版社．1997．pp139-157．
10．Bruce Eckel．Java编程思想．京京工作室译．北京：机械工业出版社．2001．pp1-665．
11．刘宝廷．程树康等．步进电动机及其驱动控制系统．哈尔滨：哈尔滨工业大学出版社．1997．pp202-216．
12．章云．谢莉萍．熊红艳．DSP控制器及其应用．北京：机械工业出版社．2001．pp1-35．
13．程金林．周学才．国产 MCT8000 运动控制器的轨迹规划系统．制造业自动化．2001．No．5 pp55-57．
14．王振华等．基于DSP和CAN总线的CNC多轴运动控制器．制造业自动化．2000．3．Vol．22(3)．pp10-13．(国家863计划CIMS领域资助项目)
15．杨建东等．一种高速PC—DSP控制系统．小型微型计算机系统．1997．4．Vol．18(4)．pp51—55．(国防预研及国防预研基金项目资助)．
16．田文超等．数控系统高性能DSP插补通讯模块的设计实现．制造业自动化．2000．6．Vol．22(6)．pp36-38．
17．陆维琦．邵燕．利用 Java 的 SOCKET 实现网上交谈．河海大学常州分校学报．2000．9．Vol．14(3)．pp31-35．
18．高军礼．陈玮．邓则名等．基于DSP技术的多轴运动控制器的应用研究．组合机床与自动化加工技术．2002，No．3．pp3-4，8．
19．高军礼．陈玮．邓则名．基于B／S的数控系统实现方法的研究．计算技术与自动化．2001，No．3．pp310-312．
20．南京四开电子有限公司网上技术资料．WWW．skync．com．cn
21．深圳摩信科技有限公司网上技术资料．WWW．moxin．com
22．张伯鹏．数字化制造是先进制造技术的核心技术．中国自动化在线(www．automation-online．com．Cn)．2000．11
23．胡建华．廖文和等．CNC系统中几种升降速控制曲线的研究与比较．南京航空航天大学学报．1999．Vol．31(6)．pp706—711．
24. Hager, G.J. Integrated motion and programmable logic control cuts system cost. IEE Power Conversion & Intelligent Motion. 1996.4.Vol. 22 (4). pp42-46.
25. Kolek, K. etc. Real time simulation environment for control of high-speed unstable mechanical systems. IEE Proceeding of the Second International Symposium on Methods and Models in Automation and Robotics. 1995. Vol. 1 pp413-418.
26. Stylo, A.W./Diana, G. A low cost, high performance PC based integrated real-time motion control development system. IEEE International Symposium on Industrial Electronics. Proceedings. ISIE'98. 1998.Vol.1. pp127-130.
27. Larsen, G/Cetinkunt, S. Low speed motion control experiments on a single point diamond turning machine using CMAC learning control algorithm. lEE Transactions of the ASME. Journal of Dynamic System, Measurement and control. 1997. pp775-781.
28． Han, S. H. etc. Implementation of a real-time adaptive controller for robotic manipulator using DSP's. IEE Proceedings of IFAC Workshop on Manufacturing Systems: Modeling, Management and Control (MIM' 97) . 1997． pp303-308．
29． Brandstatter, W. A new approach for a DSP-based stepping motor control which eliminates vibrations and allows a common hardware platform for stepping motors and PM brushless motors. IEE Proceeding of 41st International Conference for Power Conversion and Intelligent Motion-PCIM'99． 1999． pp125-130．
30． Moynihan, J. F. High accuracy speed and position calculation for industrial drives using the integrated ADMC401 DSP controller. IEE Proceedings of 41st International Conference for Power Conversion and Intelligent Motion-PCIM'99． 1999． pp279-284．
31． Guk-Chan Han. etc. A high speed machining algorithm for CNC machine tools. IEEE IECON'99． Conference Proceedings. 25th Annual Conference of the IEEE Industrial Electronics Society. 1999． Vol.3． pp1493-1497．
32． TMS320C3X/4X Optimizing C Compiler Users Guide. Texas Instruments. 1998． pp19-260．
33． TMS320C3X/4X Assembly Language Tools Users Guide. Texas Instruments. 1998． pp28-418．
34． TMS320C3X Users Guide. Texas Instruments. 1998． pp12-720． 35． Matsui, N. DSP-based intelligent motor/motion control. IEE Proceedings of the 1995 American Control Conference-ACC' 95． 1995． pp490-494．