开放式数控铣床控制系统的设计与研究
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摘要
本论文的撰写是基于实际应用型课题——合肥工业大学工业培训中心三坐标数控铣床的研制。综合考虑课题的实际情况,采用了“嵌入式工业PC+运动控制卡”的数控体系结构。系统选用深圳研祥公司提供的PC104-1621CLDN嵌入式主板和深圳众为兴公司的ADT-864 4轴运动控制卡。伺服驱动系统是由台达公司提供的基于高性能DSP的ASDA-B系列交流驱动器及配套伺服电机。
论文首先对数控系统与数控技术的发展概况和发展趋势以及开放式数控系统的概念特点进行了概述,并对系统的研究实现方案以及研究的内容和关键问题作了可行性论证分析;然后介绍了本系统的结构组成和相关原理理论等,并提出了对圆弧插补的改进算法;接着介绍了组成系统硬件的功能原理和特点,并对系统的主要电气连接作了详细的设计;再接着是对数控系统软件和仿真的研究设计,主要对NC代码的编译解释和刀具补偿的软件实现作了研究,并对刀具轨迹的仿真作了详细的设计论述;之后是对基于SVPWM控制原理的研究和结构建模;随后对控制系统的性能作了分析研究,给出了较为详细的系统调试和参数整定方法;最后总结性地介绍了课题研究的主要工作、成果和对课题的展望。
本论文来源于实际应用型课题,在一定程度上有实际的理论意义和借鉴价值,特别是对从事数控系统和数控装置等方面开发研究的人员。
This paper derives from a practical application subject which is studying about three-coordinate numerical control mill machine carried by the Industrial Training Center of Hefei University of Technology. Considering the really situation, we employs "embed industrial PC + motion controller" as the machine's numerical control system. The system contains embed PC and Four Axes Motion Controller. The former type is PC104-1624CLDN supplied by EVOC of Shenzhen., and the latter type is ADT-8644 supplied by Taida Company.
At first, the paper simply introduces the development history, trend and concept of open CNC system, and makes the analysis about the feasibility of the system's studying scheme、studying contents and key problems. Second this paper describes the system's structure and related theory, introduces the improved circular interpolation arithmetic. After that this paper gives an account of the function theory and characters of hardware which consist the system, and designs the main electrical connection in detail of system. The following is about the CNC system software and NC simulation. In this part, we do most efforts to compile and interpret NC code, to do some research on the realization of tool compensation, and to describe the design of simulation interface in detail which is about NC simulation of tool path. Then the paper introduces the control theory and how to build structure which based on SVPWM. Next step the paper gives detailed method about how to adjust the system and how to choose parameters. At last the paper summarizes main work for this subject、achievements, and puts forward prospect about this subject.
This paper derives from a practical application subject, so, to some degree, there is a certain of theory meaning and reference value in this paper, especially for those staff who are engaged in studying and developing numerical control system and device.
论文首先对数控系统与数控技术的发展概况和发展趋势以及开放式数控系统的概念特点进行了概述,并对系统的研究实现方案以及研究的内容和关键问题作了可行性论证分析;然后介绍了本系统的结构组成和相关原理理论等,并提出了对圆弧插补的改进算法;接着介绍了组成系统硬件的功能原理和特点,并对系统的主要电气连接作了详细的设计;再接着是对数控系统软件和仿真的研究设计,主要对NC代码的编译解释和刀具补偿的软件实现作了研究,并对刀具轨迹的仿真作了详细的设计论述;之后是对基于SVPWM控制原理的研究和结构建模;随后对控制系统的性能作了分析研究,给出了较为详细的系统调试和参数整定方法;最后总结性地介绍了课题研究的主要工作、成果和对课题的展望。
本论文来源于实际应用型课题,在一定程度上有实际的理论意义和借鉴价值,特别是对从事数控系统和数控装置等方面开发研究的人员。
This paper derives from a practical application subject which is studying about three-coordinate numerical control mill machine carried by the Industrial Training Center of Hefei University of Technology. Considering the really situation, we employs "embed industrial PC + motion controller" as the machine's numerical control system. The system contains embed PC and Four Axes Motion Controller. The former type is PC104-1624CLDN supplied by EVOC of Shenzhen., and the latter type is ADT-8644 supplied by Taida Company.
At first, the paper simply introduces the development history, trend and concept of open CNC system, and makes the analysis about the feasibility of the system's studying scheme、studying contents and key problems. Second this paper describes the system's structure and related theory, introduces the improved circular interpolation arithmetic. After that this paper gives an account of the function theory and characters of hardware which consist the system, and designs the main electrical connection in detail of system. The following is about the CNC system software and NC simulation. In this part, we do most efforts to compile and interpret NC code, to do some research on the realization of tool compensation, and to describe the design of simulation interface in detail which is about NC simulation of tool path. Then the paper introduces the control theory and how to build structure which based on SVPWM. Next step the paper gives detailed method about how to adjust the system and how to choose parameters. At last the paper summarizes main work for this subject、achievements, and puts forward prospect about this subject.
This paper derives from a practical application subject, so, to some degree, there is a certain of theory meaning and reference value in this paper, especially for those staff who are engaged in studying and developing numerical control system and device.
引文
[1]Golden E Herrin.Next Generation Controller,Modern Machine Shop,1990.7
[2]Koren Yoram.Computer control of manufacturing systems.New York:McGraw-Hill,1983
[3]周凯.PC数控原理、系统及应用,机械工业出版社,2006.9
[4]陈蔚芳、王宏涛、薛建彬、楼佩煌,机床数控技术及应用,科学出版社,2005.4
[5]张承瑞.数控技术发展趋势,现代制造技术与装备,2007.2
[6]卢胜利、王睿鹏、祝玲.现代数控系统——原理、构成与实例,机械工业出版社,2006.6
[7]沈晓安.开放式数控系统的发展及性能研究,机械与电子,2003.2
[8]沙玉.基于PC开放式数控系统的现状和展望,上海大学学报(自然科学版),2007.7(增刊)
[9]Golden E Herrin.Open Architecture In CNCs,Modern Machine Shop,1991.6
[10]范克东、肖世德、龚邦明.开放式数控系统的体系结构,机械工程师,2006.10
[11]Wang,Yongzhang Liu,Tao;Fu,Hongya;Han,Zhenyu.Open architecture CNC system HITCNC and key technology.Chinese Journal of Mechanical Engineering(English Edition).April 2007 20(2)
[12]娄锐.数控应用关键技术,电子工业出版社,2005.7
[13]NOVA electronics Inc.MCA312 user's Manual(Ver.1.2).Japan:NOVA electronics Inc 2004
[14]众为兴数控技术有限公司.ADT-864四轴运动控制卡用户手册,深圳市众为兴数控技术有限公司
[15]李恩林.插补原理,北京机械工业出版社,1984
[16]叶佩青、汪劲松.MCX314运动控制芯片与数控系统设计,北京航空航天大学出版社,2002.11
[17]梁明海.最小偏差补偿及其实现,广西工学院学报,1994.5
[18]王太勇、赵巍、李宏伟、孙兴伟、王国锋.快速最小偏差插补算法,组合机床与自动化加工技术,2003.6
[19]唐学飞、姚传维、王新安.数控系统直接函数法圆弧插补算法的改进,机床与液压,2004.4
[20]张伟、王兴松、王晨、徐建国.基于PC/104总线的开放式数控系统设计,CAD/CAM与制造业信息化,2006.12
[21]研祥智能科技股份有限公司.EIP产品说明书,研祥智能科技股份有限公司
[22]台达电子工业股份有限公司.AGDA-B伺服驱动器应用技术手册,台达电子工业股份有限公司,2006
[23]北京和利时电机技术有限公司.57/92BL系列无刷直流电机说明书,2006
[24]王心光、傅建中.虚拟数控加工中G代码编译器的研究,组合机床与自动化加工技术,2005.6
[25]赵东林、方凯、钱伟、周平.数控系统G代码解释器的设计与实现,制造业自动化,2006.1
[26]吉华、李彦、肖世广.Linux下G代码解释器的设计与实现,计算机应用研究,2006.12
[27]高华.基于VB的数控加工图形仿真,机床电器,2005.1
[28]吴祖育、秦鹏飞.数控机床,上海科学技术出版社,2003.3
[29]毕承恩、丁乃建等.现代数控机床,(上、下册),机械工业出版社,1991.12
[30]曹文杰、胡德计、徐燕申.基于面向对象原理实现数控车削仿真,机电一体化,2001.1
[31]俞扬信、赵文东、王留洋.在VB中利用计时器实现图形上的文字移动,吉林化工学院学报,2001.9
[32]Wang L Q,Tao N H.The design of computer simulation software on NC machining process,Manufacturing Technology & Maching Tool,1998.11
[33]张少伍、韩江.基于VB的数控系统图形轨迹仿真设计,铜陵学院学报,2005.3
[34]张崇巍.PWM整流器及其控制,机械工业出版社,2003
[35]KAURA V,BLASKO V.Operation of a voltage source converter at increased utility voltage,IEEE Trans.on Power Electronics,1997.1
[36]BLASKO V.Analysis of a hybrid PWM based on modified space-vector and triangle-comparison methods,IEEE Transactions on IA,1997.3
[37]陈伯时、陈敏逊.交流调速系统,机械工业出版社,2000
[38]苏娟莉、张双运、靳小军、白云超.PMSM控制系统中SVPWM与SPWM的比较研究,西安文理学院学报(自然科学版),2006.3
[39]王建宽、崔巍、江建中.SVPWM技术的理论分析及仿真,微特电机,2006.6
[40]Yang Sheng-Ming,Ke Shuenn-Jenn.Performance evaluation of a velocity observer for accurate velocity estimation of servo motor drives,IEEE Industry Application Society,1998.3
[41]舒志兵等.交流伺服运动控制系统,清华大学出版社,2006.3
[42]Ebrahimi M,Whalley R,Analysis,Modeling and Simulation of Stifness in Machine Tool Drives,Computer and Industrial Engineering,2000.38
[43]陆南、刘维亭.永磁同步电动机交流伺服系统动态性能研究,华东船舶工业学院学报(自然科学版),2005.8
[44]邵群涛、赵伟军.数控机床位置伺服在线调试与动态性能分析研究,组合机床与自动化加工技术,2003.9
[2]Koren Yoram.Computer control of manufacturing systems.New York:McGraw-Hill,1983
[3]周凯.PC数控原理、系统及应用,机械工业出版社,2006.9
[4]陈蔚芳、王宏涛、薛建彬、楼佩煌,机床数控技术及应用,科学出版社,2005.4
[5]张承瑞.数控技术发展趋势,现代制造技术与装备,2007.2
[6]卢胜利、王睿鹏、祝玲.现代数控系统——原理、构成与实例,机械工业出版社,2006.6
[7]沈晓安.开放式数控系统的发展及性能研究,机械与电子,2003.2
[8]沙玉.基于PC开放式数控系统的现状和展望,上海大学学报(自然科学版),2007.7(增刊)
[9]Golden E Herrin.Open Architecture In CNCs,Modern Machine Shop,1991.6
[10]范克东、肖世德、龚邦明.开放式数控系统的体系结构,机械工程师,2006.10
[11]Wang,Yongzhang Liu,Tao;Fu,Hongya;Han,Zhenyu.Open architecture CNC system HITCNC and key technology.Chinese Journal of Mechanical Engineering(English Edition).April 2007 20(2)
[12]娄锐.数控应用关键技术,电子工业出版社,2005.7
[13]NOVA electronics Inc.MCA312 user's Manual(Ver.1.2).Japan:NOVA electronics Inc 2004
[14]众为兴数控技术有限公司.ADT-864四轴运动控制卡用户手册,深圳市众为兴数控技术有限公司
[15]李恩林.插补原理,北京机械工业出版社,1984
[16]叶佩青、汪劲松.MCX314运动控制芯片与数控系统设计,北京航空航天大学出版社,2002.11
[17]梁明海.最小偏差补偿及其实现,广西工学院学报,1994.5
[18]王太勇、赵巍、李宏伟、孙兴伟、王国锋.快速最小偏差插补算法,组合机床与自动化加工技术,2003.6
[19]唐学飞、姚传维、王新安.数控系统直接函数法圆弧插补算法的改进,机床与液压,2004.4
[20]张伟、王兴松、王晨、徐建国.基于PC/104总线的开放式数控系统设计,CAD/CAM与制造业信息化,2006.12
[21]研祥智能科技股份有限公司.EIP产品说明书,研祥智能科技股份有限公司
[22]台达电子工业股份有限公司.AGDA-B伺服驱动器应用技术手册,台达电子工业股份有限公司,2006
[23]北京和利时电机技术有限公司.57/92BL系列无刷直流电机说明书,2006
[24]王心光、傅建中.虚拟数控加工中G代码编译器的研究,组合机床与自动化加工技术,2005.6
[25]赵东林、方凯、钱伟、周平.数控系统G代码解释器的设计与实现,制造业自动化,2006.1
[26]吉华、李彦、肖世广.Linux下G代码解释器的设计与实现,计算机应用研究,2006.12
[27]高华.基于VB的数控加工图形仿真,机床电器,2005.1
[28]吴祖育、秦鹏飞.数控机床,上海科学技术出版社,2003.3
[29]毕承恩、丁乃建等.现代数控机床,(上、下册),机械工业出版社,1991.12
[30]曹文杰、胡德计、徐燕申.基于面向对象原理实现数控车削仿真,机电一体化,2001.1
[31]俞扬信、赵文东、王留洋.在VB中利用计时器实现图形上的文字移动,吉林化工学院学报,2001.9
[32]Wang L Q,Tao N H.The design of computer simulation software on NC machining process,Manufacturing Technology & Maching Tool,1998.11
[33]张少伍、韩江.基于VB的数控系统图形轨迹仿真设计,铜陵学院学报,2005.3
[34]张崇巍.PWM整流器及其控制,机械工业出版社,2003
[35]KAURA V,BLASKO V.Operation of a voltage source converter at increased utility voltage,IEEE Trans.on Power Electronics,1997.1
[36]BLASKO V.Analysis of a hybrid PWM based on modified space-vector and triangle-comparison methods,IEEE Transactions on IA,1997.3
[37]陈伯时、陈敏逊.交流调速系统,机械工业出版社,2000
[38]苏娟莉、张双运、靳小军、白云超.PMSM控制系统中SVPWM与SPWM的比较研究,西安文理学院学报(自然科学版),2006.3
[39]王建宽、崔巍、江建中.SVPWM技术的理论分析及仿真,微特电机,2006.6
[40]Yang Sheng-Ming,Ke Shuenn-Jenn.Performance evaluation of a velocity observer for accurate velocity estimation of servo motor drives,IEEE Industry Application Society,1998.3
[41]舒志兵等.交流伺服运动控制系统,清华大学出版社,2006.3
[42]Ebrahimi M,Whalley R,Analysis,Modeling and Simulation of Stifness in Machine Tool Drives,Computer and Industrial Engineering,2000.38
[43]陆南、刘维亭.永磁同步电动机交流伺服系统动态性能研究,华东船舶工业学院学报(自然科学版),2005.8
[44]邵群涛、赵伟军.数控机床位置伺服在线调试与动态性能分析研究,组合机床与自动化加工技术,2003.9