基于EPA的全数字交流伺服系统接口设计
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摘要
交流伺服驱动器(又称“伺服系统”)是数控系统中的核心部件。驱动器技术已由最初的模拟量、脉冲序列,发展到最近的全数字。数字式驱动器以其能提供更高的控制精度、达到更快的响应速度,还能够实现更复杂的控制算法,提供参数调整能力和系统的诊断等优势成为今后发展的趋势。本文设计了一款基于工业以太网EPA(Ethernet for Plant Automation)标准的全数字交流伺服驱动器,并从以下几个方面进行研究:
1、在对课题的研究背景进行了全面综述的基础上,分析了模拟伺服系统和全数字交流伺服系统的优缺点,并对交流伺服驱动器接口技术的发展趋势作了论述;
2、详细介绍了SERCOS、ETHERNET PowerLink、EtherCAT三种适合于数控系统的总线技术,对其工作原理和通信性能进行了分析;
3、对EPA通信协议作了比较全面的介绍,着重对其确定性调度机制和高精度时间同步进行了分析研究;
4、以浙江中控电气技术有限公司的SUP-D模拟交流伺服驱动器为蓝本,设计并开发了基于EPA技术的全数字交流伺服驱动器。该驱动器由TMS320LF2407为主控制器,采用EPA专用芯片实现EPA协议栈,提高网络通讯的实时性、同步精度,采用AX88796网卡芯片进行网络数据的收发;
5、在基于EPA的多轴运动数控系统实验平台上进行实验,验证了全数字交流伺服系统的可靠性能。
AC servo drivers("AC servo system") are widely used in CNC (Computerized Numerical Control) systems. The performance of the servo system seriously influences the whole CNC system. Recently, full-digital servo system is developing in a fast speed. Full-digital system has the merit of high accuracy, fast response, permitting more complicated algorithms and parameters adjusting, and so on. In this thesis, a full-digital system based on EPA is introduced:
First, full-digital servo system's back ground, merits and shortcomings compared to analog servo system are introduced. The advantages and shortcomings of the three kinds of interface techniques are presented in detail.
Second, the mechanism and the communication protocols of SERCOS, ETHERNET PowerLink, EtherCAT are also described in detail , as three kinds of popular CNC buses, with emphasis on their definite communicating dispatch and accurate synchronizing capabilitiy, which guarantee the CNC use.
Third, EPA (Ethernet for Plant Automation) protocol is introduced with emphasis on its definite communicating dispatch and its accurate synchronizing method.
Fourth, based on the analog servo system SUP-D of Zhejiang Supcon Electric Co,.ltd, a Ethernet interface is designed to connect the servo driver and the Ethernet, using TMS320LF2407 as processor, AX88796 as network card and ESP to implement the EPA protocol.
Fifth, a experiment is designed on CNC system based on EPA . The experiment result proves that the system can perform well in network environment.
1、在对课题的研究背景进行了全面综述的基础上,分析了模拟伺服系统和全数字交流伺服系统的优缺点,并对交流伺服驱动器接口技术的发展趋势作了论述;
2、详细介绍了SERCOS、ETHERNET PowerLink、EtherCAT三种适合于数控系统的总线技术,对其工作原理和通信性能进行了分析;
3、对EPA通信协议作了比较全面的介绍,着重对其确定性调度机制和高精度时间同步进行了分析研究;
4、以浙江中控电气技术有限公司的SUP-D模拟交流伺服驱动器为蓝本,设计并开发了基于EPA技术的全数字交流伺服驱动器。该驱动器由TMS320LF2407为主控制器,采用EPA专用芯片实现EPA协议栈,提高网络通讯的实时性、同步精度,采用AX88796网卡芯片进行网络数据的收发;
5、在基于EPA的多轴运动数控系统实验平台上进行实验,验证了全数字交流伺服系统的可靠性能。
AC servo drivers("AC servo system") are widely used in CNC (Computerized Numerical Control) systems. The performance of the servo system seriously influences the whole CNC system. Recently, full-digital servo system is developing in a fast speed. Full-digital system has the merit of high accuracy, fast response, permitting more complicated algorithms and parameters adjusting, and so on. In this thesis, a full-digital system based on EPA is introduced:
First, full-digital servo system's back ground, merits and shortcomings compared to analog servo system are introduced. The advantages and shortcomings of the three kinds of interface techniques are presented in detail.
Second, the mechanism and the communication protocols of SERCOS, ETHERNET PowerLink, EtherCAT are also described in detail , as three kinds of popular CNC buses, with emphasis on their definite communicating dispatch and accurate synchronizing capabilitiy, which guarantee the CNC use.
Third, EPA (Ethernet for Plant Automation) protocol is introduced with emphasis on its definite communicating dispatch and its accurate synchronizing method.
Fourth, based on the analog servo system SUP-D of Zhejiang Supcon Electric Co,.ltd, a Ethernet interface is designed to connect the servo driver and the Ethernet, using TMS320LF2407 as processor, AX88796 as network card and ESP to implement the EPA protocol.
Fifth, a experiment is designed on CNC system based on EPA . The experiment result proves that the system can perform well in network environment.
引文
[1]王健.现代交流伺服系统技术和市场发展综述.伺服控制,2007,(1)
[2]巨永锋,张兴莲,王智慧.交流伺服系统综述.电气时代,2005,(11):17-19
[3]李烨,严欣严.永磁同步电动机伺服系统及应用现状.微电机,2001,34(4):22-24
[4]张东亮.面向开放式数控系统的智能软件交流伺服系统研究与开发:[学位论文].山东大学,2001.
[5]舒志兵等.现场总线运动控制系统.北京:电子工业出版社.2007.
[6]邬宽明.现场总线技术应用选编.北京:航空航天大学出版社.2005.
[7]EtherCAT技术组.EtherCAT——技术介绍及发展概貌.www.cameta.org.cn,2006(6):33-34.
[8]奚清漪,麦云飞.基于Ethernet Powerlink的伺服通信控制.工业控制计算机.2005:10-11
[9]陈卫福等.开放式数控系统及SERCOS接口应用技术.机械工业出版社.2003.
[10]EPA criterion for industrial control system——digital communication for measurement and control,2004.
[11]刘迟斌.基于IEEE1394协议的数字伺服现场总线技术研究:[学位论文].北京航空航天大学,2004.
[12]袁晓峰,龚邦明.基于SERCOS-Ⅲ总线的伺服驱动单元接口组合机床与自动化加工技术.2005:34-36.
[13]许洪华,刘科.确定性工业以太网Ethernet Powerlink.冶金自动化.2003:12-13.
[14]叶莘.Ethernet Powerlinkn—实时的工业以太网.www.kongzhi.net
[15]EtherCAT技术协会中国代表处.EtherCAT——以太网现场总线.工业太网专栏,2007(7):1-2.
[16]Blaschke F.The Principle of Field-orientation as Applied to the Transvector Closed-loop Control System for Rotating-field Machines.Siemens Rev,1972,39(5)
[17]郭庆鼎.王成元.交流伺服系统.北京:机械工业出版社.1994.
[18]秦忆,周永鹏,李叶松等.现代交流伺服系统.武汉:华中理工大学出 版社,1995.
[19]陈伯时,陈敏逊.交流调速系统.北京:机械工业出版社,1998.
[20]刘和平.严利平.张学锋.卓清锋.TMS320LF240X DSP结构、原理、应用.北京:北京航空航天出版社,2002.
[21]Reference guide of TMS320Lf240xA DSP controller:CPU and Instruction Set,TI DSP solutions 2001.9
[22]Reference guide of TMS320LF240xA DSP controllers:System and Peripherals,TI DSP solutions 2001.9
[23]周凯 钱琪.霍尔效应电流检测装置及其在交流调速系统中的应用仪器仪表与分析监测1988,(4):30-32.
[24]马净,王峰,李晓光,李南.编码器原理及应用.中国仪器仪表,2002,(5):32-33.
[25]周德广.增量式旋转光电编码器.信息与控制.1982,(1):17-19.
[26]李秀娟.光电编码器信号处理及接口电路设计.南京航空航天大学学报,1993,(1):20-22.
[27]刘飞龙,裴海龙.光电脉冲编码器四倍频电路的实现及其应用.自动化仪表,2000,(9):10-12.
[28]夏加宽,李皓东,王成元.基于TMS320F240的全数字化交流伺服控制系统设计.电工技术杂志.2001,(11):17-19.
[29]许强,贾正春,李朗如.新型全数字交流伺服系统.微电机,1997(1)
[30]刘日宝.全数字永磁交流伺服驱动系统的研究:[学位论文].南京航空航天大学,2004.
[31]金钰,胡祐德,李向春。伺服系统设计指导,北京:北京理工大学出版社,2000.
[32]Bimal K.buse,Modern power electronics and AC drives,Beijing:China machine press 2003.4
[33]Yong-Dong Li,Digital drivers for AC motor,Beijing:China machine press2003.4
[34]李树良,张杰,尹放.新一代智能功率模块(IPM)基本原理及其控制IC原理分析.微处理机.2001,(2):40-42.
[35]首珩,肖耀南.智能电力模块(IPM).机床电器,2001,(6):10-12.
[36]Marian P Kazmierkowski,Luigi Malesani.Current Control Techniques for Three-phase Voltage-source PWM Converters:A survey.IEEE Trans.Ind.Electron,1988,3(4)
[37]舒志兵等.交流伺服运动控制系统.清华大学出版社.2006
[38]冯冬芹,金建祥,王为民,褚健.基于EPA的分布式网络控制系统结构.自动化仪表.2006:3-5.
[39]冯冬芹,金建祥,褚健.EPh实时以太网标准化.自动化博览.2005:1-2.
[40]冯冬芹,廖智军,金建祥,褚健.基于以太网的工业控制网络实时通信模型研究.仪器仪表学报.2006:4-6.
[41]朱玲芬,袁剑蓉,冯冬芹.基于EPA的分布式控制系统网络通信模型.自动化仪表.2005:10-12.
[42]阮冬茹,谢东光.基于EPA的工业以太网确定性研究.微计算机信息.2005:21-23.
[43]王海彬等.ESP产品的技术规范.杭州士兰微电子股份有限公司.2005.
[44]赵英,张莹莹.基于连续时间戳通信模型的时钟同步.微计算机信息.2006.
[45]孙德和等.常用集成电路芯片IC参考大全.海洋出版社.2002.
[2]巨永锋,张兴莲,王智慧.交流伺服系统综述.电气时代,2005,(11):17-19
[3]李烨,严欣严.永磁同步电动机伺服系统及应用现状.微电机,2001,34(4):22-24
[4]张东亮.面向开放式数控系统的智能软件交流伺服系统研究与开发:[学位论文].山东大学,2001.
[5]舒志兵等.现场总线运动控制系统.北京:电子工业出版社.2007.
[6]邬宽明.现场总线技术应用选编.北京:航空航天大学出版社.2005.
[7]EtherCAT技术组.EtherCAT——技术介绍及发展概貌.www.cameta.org.cn,2006(6):33-34.
[8]奚清漪,麦云飞.基于Ethernet Powerlink的伺服通信控制.工业控制计算机.2005:10-11
[9]陈卫福等.开放式数控系统及SERCOS接口应用技术.机械工业出版社.2003.
[10]EPA criterion for industrial control system——digital communication for measurement and control,2004.
[11]刘迟斌.基于IEEE1394协议的数字伺服现场总线技术研究:[学位论文].北京航空航天大学,2004.
[12]袁晓峰,龚邦明.基于SERCOS-Ⅲ总线的伺服驱动单元接口组合机床与自动化加工技术.2005:34-36.
[13]许洪华,刘科.确定性工业以太网Ethernet Powerlink.冶金自动化.2003:12-13.
[14]叶莘.Ethernet Powerlinkn—实时的工业以太网.www.kongzhi.net
[15]EtherCAT技术协会中国代表处.EtherCAT——以太网现场总线.工业太网专栏,2007(7):1-2.
[16]Blaschke F.The Principle of Field-orientation as Applied to the Transvector Closed-loop Control System for Rotating-field Machines.Siemens Rev,1972,39(5)
[17]郭庆鼎.王成元.交流伺服系统.北京:机械工业出版社.1994.
[18]秦忆,周永鹏,李叶松等.现代交流伺服系统.武汉:华中理工大学出 版社,1995.
[19]陈伯时,陈敏逊.交流调速系统.北京:机械工业出版社,1998.
[20]刘和平.严利平.张学锋.卓清锋.TMS320LF240X DSP结构、原理、应用.北京:北京航空航天出版社,2002.
[21]Reference guide of TMS320Lf240xA DSP controller:CPU and Instruction Set,TI DSP solutions 2001.9
[22]Reference guide of TMS320LF240xA DSP controllers:System and Peripherals,TI DSP solutions 2001.9
[23]周凯 钱琪.霍尔效应电流检测装置及其在交流调速系统中的应用仪器仪表与分析监测1988,(4):30-32.
[24]马净,王峰,李晓光,李南.编码器原理及应用.中国仪器仪表,2002,(5):32-33.
[25]周德广.增量式旋转光电编码器.信息与控制.1982,(1):17-19.
[26]李秀娟.光电编码器信号处理及接口电路设计.南京航空航天大学学报,1993,(1):20-22.
[27]刘飞龙,裴海龙.光电脉冲编码器四倍频电路的实现及其应用.自动化仪表,2000,(9):10-12.
[28]夏加宽,李皓东,王成元.基于TMS320F240的全数字化交流伺服控制系统设计.电工技术杂志.2001,(11):17-19.
[29]许强,贾正春,李朗如.新型全数字交流伺服系统.微电机,1997(1)
[30]刘日宝.全数字永磁交流伺服驱动系统的研究:[学位论文].南京航空航天大学,2004.
[31]金钰,胡祐德,李向春。伺服系统设计指导,北京:北京理工大学出版社,2000.
[32]Bimal K.buse,Modern power electronics and AC drives,Beijing:China machine press 2003.4
[33]Yong-Dong Li,Digital drivers for AC motor,Beijing:China machine press2003.4
[34]李树良,张杰,尹放.新一代智能功率模块(IPM)基本原理及其控制IC原理分析.微处理机.2001,(2):40-42.
[35]首珩,肖耀南.智能电力模块(IPM).机床电器,2001,(6):10-12.
[36]Marian P Kazmierkowski,Luigi Malesani.Current Control Techniques for Three-phase Voltage-source PWM Converters:A survey.IEEE Trans.Ind.Electron,1988,3(4)
[37]舒志兵等.交流伺服运动控制系统.清华大学出版社.2006
[38]冯冬芹,金建祥,王为民,褚健.基于EPA的分布式网络控制系统结构.自动化仪表.2006:3-5.
[39]冯冬芹,金建祥,褚健.EPh实时以太网标准化.自动化博览.2005:1-2.
[40]冯冬芹,廖智军,金建祥,褚健.基于以太网的工业控制网络实时通信模型研究.仪器仪表学报.2006:4-6.
[41]朱玲芬,袁剑蓉,冯冬芹.基于EPA的分布式控制系统网络通信模型.自动化仪表.2005:10-12.
[42]阮冬茹,谢东光.基于EPA的工业以太网确定性研究.微计算机信息.2005:21-23.
[43]王海彬等.ESP产品的技术规范.杭州士兰微电子股份有限公司.2005.
[44]赵英,张莹莹.基于连续时间戳通信模型的时钟同步.微计算机信息.2006.
[45]孙德和等.常用集成电路芯片IC参考大全.海洋出版社.2002.