基于多类型伺服并行结构的五坐标联动智能数控系统
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摘要
数控系统发展到今天已进入计算机数控的第三代——基于PC时代，对系统的精确性和快速性的要求越来越高，传统的数控系统设计方式已难满足现代数控系统的设计要求。
本论文——基于多类型伺服并行结构的五坐标联动系统，深入地研究了第三代CNC系统的核心技术，并应用于实践。
多坐标精密联动的关键，一是自动编程系统，它要解决根据运行的轨迹情况自动编程，以生成相应的位置命令代码；二是控制系统，它要完成代码的准确解释与可靠执行。自动编程系统现在国内外发展的技术已比较成熟，如我们可用 Unigraph、Pro／ENGINEER、Cimatron、Mastercam等软件来完成自动编程工作，因此本系统的重点是控制系统。
机械运动机构方面，开发出了五坐标运动的机械系统；运动控制方面，实现了CNC五联动系统。这个五联动世CNC系统是含有步进与交流两种伺服驱动方式，含有开环、半闭环、全闭环三种控制方式组合的系统。
控制系统基于IPC平台，采用上、下位机控制方式实现分层插补：粗插补和精插补。上位机采用IPC完成离线粗插补任务并进行各种重要任务的处理，下位机采用智能运动控制器完成实时的精插补任务。我们完成了对三种类型智能运动控制器的调试，成功地应用了智能运动控制器的中断功能。伺服系统方面，采用了两种伺服系统：步进伺服系统和交流伺服系统。这一方面是考虑系统的经济性和继承性而采用了步进伺服系统；另一方面是紧跟现代伺服系统的发展趋势，在各种高精度和快速性控制场合中，交流伺服系统得到了越来越广泛的应用。深入地研究了步进伺服系统和交流伺服系统的运行原理，并比较了它们的优缺点。成功地实现了在一个系统中应用两种不同类型的伺服系统并存、两种不同类型的智能运动控制器的并存。
软件方面，采用了分层插补的思想，开发出了基于上、下位
电子科技大学硕士研究生毕业论文 摘 要
机的二次插补算法：粗插补和精插补。上位机完全离线完成粗插
补任务，并利用扩充内存技术，把粗插补得到的大量数据以一定
的格式放入扩充内存。精插补阶段成功地采用了中断技术，使下
位机——一智能运动控制器实时地从扩充内存取得运行参数，并完
成精插补。
本系统的设计还充分考虑柔性要求。硬件设计采用模块化设
计，可根据需要搭建出任意轴的组合联动。软件几乎不需改动就
可成功地移植，用于控制一轴运动，二轴、三轴或四轴联动数控
系统。
NC ( the Numeric Control) system has developed into the third generation of CNC (the Computer Numeric Control),which is based on PC. Higher velocity and precision are required in designs of modern NC system, and traditional design methods of NC can not meet these demands.
In this paper, key technologies of the third generation of CNC are explored deeply. And ,as practice and application, a 5-axis simultaneous numeric control system based on multi-type servo parallel structure is proposed.
There are two key technologies in multi-axis simultaneous control system design. One key is the auto programming system, which can generate the codes from the demanded motion path. The other is the control system, which can compile and execute the codes exactly. Nowadays the technology of auto programming system has developed maturely and the task of the auto programming can be finished specially by some CAM software, such as Unigragh, Pro/ENGINEER, Cimatron, Mastercam and so on. Therefore emphasis of this paper is put on auto control system.
The special mechanical platform is developed as the executor of this 5-axis CNC system. We applied the stepping motion servo control to three of the five axis and applied the alternating current servo control to the rest two axis. Three methods of control, including open cycle control, half closed loop control and closed loop control, are all applied in this system.
The control system is based on IPC(Industrial Process Control), in which the control scheme of principal and subordinate is adopted. IPC, as the principal, accomplishes the first offline interpolation and handles other important tasks. A intelligent motion controller, as the
ill
subordination, finishes the second accurate interpolation. Two types of servo control systems are applied in this system. One is the stepping motion servo control system. The other is the alternating current servo control system. Considering the reason of economy and sophistication, two types of servo control systems are kept both in the system. The alternating current servo control system is the trend of the servo system. On the basis of research on the principle of the alternating current servo control and the stepping motion servo control, co-existence of the two different intelligent motion controllers is realized successfully.
We propose a new algorithm of two times interpolation. The principal computer accomplishes the first interpolation and puts these data to the extended memory. Secondly, the subordinate controller carries out the realtime interpolation with support of the interrupt technology.
The design of this system also shows good flexibility. Modularized design hardware and software make it possible to put up CNC system flexibly with one axis ,two axis ,three axis . four axis or five axis. Furthermore, the CNC software can be transplanted to other system without any change.
本论文——基于多类型伺服并行结构的五坐标联动系统，深入地研究了第三代CNC系统的核心技术，并应用于实践。
多坐标精密联动的关键，一是自动编程系统，它要解决根据运行的轨迹情况自动编程，以生成相应的位置命令代码；二是控制系统，它要完成代码的准确解释与可靠执行。自动编程系统现在国内外发展的技术已比较成熟，如我们可用 Unigraph、Pro／ENGINEER、Cimatron、Mastercam等软件来完成自动编程工作，因此本系统的重点是控制系统。
机械运动机构方面，开发出了五坐标运动的机械系统；运动控制方面，实现了CNC五联动系统。这个五联动世CNC系统是含有步进与交流两种伺服驱动方式，含有开环、半闭环、全闭环三种控制方式组合的系统。
控制系统基于IPC平台，采用上、下位机控制方式实现分层插补：粗插补和精插补。上位机采用IPC完成离线粗插补任务并进行各种重要任务的处理，下位机采用智能运动控制器完成实时的精插补任务。我们完成了对三种类型智能运动控制器的调试，成功地应用了智能运动控制器的中断功能。伺服系统方面，采用了两种伺服系统：步进伺服系统和交流伺服系统。这一方面是考虑系统的经济性和继承性而采用了步进伺服系统；另一方面是紧跟现代伺服系统的发展趋势，在各种高精度和快速性控制场合中，交流伺服系统得到了越来越广泛的应用。深入地研究了步进伺服系统和交流伺服系统的运行原理，并比较了它们的优缺点。成功地实现了在一个系统中应用两种不同类型的伺服系统并存、两种不同类型的智能运动控制器的并存。
软件方面，采用了分层插补的思想，开发出了基于上、下位
电子科技大学硕士研究生毕业论文 摘 要
机的二次插补算法：粗插补和精插补。上位机完全离线完成粗插
补任务，并利用扩充内存技术，把粗插补得到的大量数据以一定
的格式放入扩充内存。精插补阶段成功地采用了中断技术，使下
位机——一智能运动控制器实时地从扩充内存取得运行参数，并完
成精插补。
本系统的设计还充分考虑柔性要求。硬件设计采用模块化设
计，可根据需要搭建出任意轴的组合联动。软件几乎不需改动就
可成功地移植，用于控制一轴运动，二轴、三轴或四轴联动数控
系统。
NC ( the Numeric Control) system has developed into the third generation of CNC (the Computer Numeric Control),which is based on PC. Higher velocity and precision are required in designs of modern NC system, and traditional design methods of NC can not meet these demands.
In this paper, key technologies of the third generation of CNC are explored deeply. And ,as practice and application, a 5-axis simultaneous numeric control system based on multi-type servo parallel structure is proposed.
There are two key technologies in multi-axis simultaneous control system design. One key is the auto programming system, which can generate the codes from the demanded motion path. The other is the control system, which can compile and execute the codes exactly. Nowadays the technology of auto programming system has developed maturely and the task of the auto programming can be finished specially by some CAM software, such as Unigragh, Pro/ENGINEER, Cimatron, Mastercam and so on. Therefore emphasis of this paper is put on auto control system.
The special mechanical platform is developed as the executor of this 5-axis CNC system. We applied the stepping motion servo control to three of the five axis and applied the alternating current servo control to the rest two axis. Three methods of control, including open cycle control, half closed loop control and closed loop control, are all applied in this system.
The control system is based on IPC(Industrial Process Control), in which the control scheme of principal and subordinate is adopted. IPC, as the principal, accomplishes the first offline interpolation and handles other important tasks. A intelligent motion controller, as the
ill
subordination, finishes the second accurate interpolation. Two types of servo control systems are applied in this system. One is the stepping motion servo control system. The other is the alternating current servo control system. Considering the reason of economy and sophistication, two types of servo control systems are kept both in the system. The alternating current servo control system is the trend of the servo system. On the basis of research on the principle of the alternating current servo control and the stepping motion servo control, co-existence of the two different intelligent motion controllers is realized successfully.
We propose a new algorithm of two times interpolation. The principal computer accomplishes the first interpolation and puts these data to the extended memory. Secondly, the subordinate controller carries out the realtime interpolation with support of the interrupt technology.
The design of this system also shows good flexibility. Modularized design hardware and software make it possible to put up CNC system flexibly with one axis ,two axis ,three axis . four axis or five axis. Furthermore, the CNC software can be transplanted to other system without any change.
引文
(1) 黄大贵．微机数控系统．成都：电子科技大学出版社，1996．
(2) 王士元．C高级实有程序设计．北京：清华大学出版社，1996．6．
(3) 周明德．微型计算机IBM-PC／XT(052系列)系统原理及应用[M]．北京：清华大学出版社，1991 374-388．
(4) ADVANTECH. PCL-839 User'Manual. Part No. 2005839010.
(5) 交流伺服系统教程．MITSUBISHI．
(6) 雷赛科技有限公司DMC-200控制板硬件手册2.0版．1999．
(7) Panasonic交流伺服电机驱动器MINAS A系列使用说明书．
(8) 张黎．五坐标联动数控系统设计．[硕士论文] 成都：电子科技大学机械电子工程学院 1999
(9) 周祖德．开放式控制系统的现状、趋势及对策．中国机械工程．1999．10
(10) 谢明红 开放式模块化通用数控系统软件设计．华侨大学学报(自然科学版)．1998．2
(11) 范菲．数控系统软件芯片库集成开发环境的研究．华中理工大学学报．1998．2
(12) 周延佑．国产数控系统的特点和机床数控化改造的迫切性．制造技术与机床 1999．6
(13) Workshops 2000. AIM Dissemination and Information Exchange Workshops Spring and Summer, 2000
(14) VNC—virtual numeric control. Animatics corporation. 2001
(15) Computer controlled fabrication of free-form glass lens Li,Quansheng;Cheng, Ye;Tang, Dong;Zhang, Bopeng;Cai, Fuzhi;Author Affiliation: Tsinghua Univ Source: Proceedings of SPIE - The International Society for Optical Engineering 3782 Jul 20-Jul 231999 1999 Sponsored by: SPIE Society of Photo-Optical Instrumentation Engineers p 203-212 0277-786X
(16) Machine vision technology - applications in the automotive industry Gill, Kapul D. ;Jawaid, Ashraf;Author Affiliation: Rover Group Ltd Source: SAE Technical Paper Series Sep 17-20 1990 1990 Publ by SAE p 1-7 0148-7191.
(2) 王士元．C高级实有程序设计．北京：清华大学出版社，1996．6．
(3) 周明德．微型计算机IBM-PC／XT(052系列)系统原理及应用[M]．北京：清华大学出版社，1991 374-388．
(4) ADVANTECH. PCL-839 User'Manual. Part No. 2005839010.
(5) 交流伺服系统教程．MITSUBISHI．
(6) 雷赛科技有限公司DMC-200控制板硬件手册2.0版．1999．
(7) Panasonic交流伺服电机驱动器MINAS A系列使用说明书．
(8) 张黎．五坐标联动数控系统设计．[硕士论文] 成都：电子科技大学机械电子工程学院 1999
(9) 周祖德．开放式控制系统的现状、趋势及对策．中国机械工程．1999．10
(10) 谢明红 开放式模块化通用数控系统软件设计．华侨大学学报(自然科学版)．1998．2
(11) 范菲．数控系统软件芯片库集成开发环境的研究．华中理工大学学报．1998．2
(12) 周延佑．国产数控系统的特点和机床数控化改造的迫切性．制造技术与机床 1999．6
(13) Workshops 2000. AIM Dissemination and Information Exchange Workshops Spring and Summer, 2000
(14) VNC—virtual numeric control. Animatics corporation. 2001
(15) Computer controlled fabrication of free-form glass lens Li,Quansheng;Cheng, Ye;Tang, Dong;Zhang, Bopeng;Cai, Fuzhi;Author Affiliation: Tsinghua Univ Source: Proceedings of SPIE - The International Society for Optical Engineering 3782 Jul 20-Jul 231999 1999 Sponsored by: SPIE Society of Photo-Optical Instrumentation Engineers p 203-212 0277-786X
(16) Machine vision technology - applications in the automotive industry Gill, Kapul D. ;Jawaid, Ashraf;Author Affiliation: Rover Group Ltd Source: SAE Technical Paper Series Sep 17-20 1990 1990 Publ by SAE p 1-7 0148-7191.