基于PMAC的开放式数控雕铣机系统的研究
摘要
开放式数控系统己经成为现代数控系统的发展趋势,技术体系由封闭走向开放,将对数控技术的发展产生巨大的影响。相对于传统的数控系统,开放式数控系统在构建体系和具体实现技术上都有很大差异。本文研究了基于工业PC机的开放式数控系统的概念和结构,也分析了通过高级运动控制器PMAC(Programmable Multi-Axis Controller)实现开放式数控系统的设计和构造。
本文以数控雕铣机被控对象,设计了一种上下位机的开放式数控系统。该系统是以工业PC机为系统支撑单元,以PMAC可编程多轴运动控制器为核心,以Windows2000为软件平台。
研究的内容分为硬件和软件平台规划。在对平台进行设计的过程中,对其关键技术系统调试和运动控制进行探讨。该数控系统的硬件部分是基于“IPC+PMAC运动控制器”开放式数控系统模式,选择了电气驱动部件,包括交流伺服电机和与之匹配的伺服驱动器。数控系统软件部分包含实时控制部分和管理部分两个部分。实时控制部分用于对设备进行实时监控,初始化系统的参数变量,同时也调用用于电气控制的后台PLC程序。管理部分用于系统资源分配和程序调度,通过PMAC卡自带的动态链接库(Pmac.dll),实现了PC机与PMAC卡之间的数据通信,下载被控对象的运动程序,实现了被控对象运动的快速性、准确性、实时性。同时对PVT算法分析,通过运用PVT算法至运动控制程序中,达到了雕铣机在复杂轨迹运动中快速性和精确性。
Open architecture control became the essential requirement for modern computer numeral control(CNC) system; and the development CNC technique has being changed From the closed technological system to the open architecture CNC system,this situation make a huge influence on the develop of CNC system. The open CNC system differ from traditional CNC systems on both the integrated system structure and concrete realization algorithms. In this paper, we has been discussed the concept and the architecture of pc-based open-architecture NC system. by the way of using PMAC to achieve design and construct of open CNC..
The paper base on NC engraving and milling machine to be controlled object,across to its characteristics and motion form,designed PC and PMAC numerical control system,which is support by IPC,and core by PMAC, and base on windows2000.
The content include hardware and software plan. Across to design, the key technique system has been debugged and motion has been discussed. The open system’s hardware is base on PC and PMAC, choose the electric drive assembly. Includes AC servo and suit AC servo drivers. The software including real-times movement control and system manage. real-times movement control using for monitor and control, setting variable initialization and call the background PLC process. system manage using for system resources assign and process dispatch. The mostly is design human machine interface,across to PMAC with dynamic link library(pmac.dll),achieve data traffic between IPC and PMAC,to download sports programs,so fulfill the controlled object to be fast,preciseness,real-time. And analysis the PVT Algorithm, apply the PVT Algorithm to motion program, Achieve fast,preciseness in complex Trajectories.
本文以数控雕铣机被控对象,设计了一种上下位机的开放式数控系统。该系统是以工业PC机为系统支撑单元,以PMAC可编程多轴运动控制器为核心,以Windows2000为软件平台。
研究的内容分为硬件和软件平台规划。在对平台进行设计的过程中,对其关键技术系统调试和运动控制进行探讨。该数控系统的硬件部分是基于“IPC+PMAC运动控制器”开放式数控系统模式,选择了电气驱动部件,包括交流伺服电机和与之匹配的伺服驱动器。数控系统软件部分包含实时控制部分和管理部分两个部分。实时控制部分用于对设备进行实时监控,初始化系统的参数变量,同时也调用用于电气控制的后台PLC程序。管理部分用于系统资源分配和程序调度,通过PMAC卡自带的动态链接库(Pmac.dll),实现了PC机与PMAC卡之间的数据通信,下载被控对象的运动程序,实现了被控对象运动的快速性、准确性、实时性。同时对PVT算法分析,通过运用PVT算法至运动控制程序中,达到了雕铣机在复杂轨迹运动中快速性和精确性。
Open architecture control became the essential requirement for modern computer numeral control(CNC) system; and the development CNC technique has being changed From the closed technological system to the open architecture CNC system,this situation make a huge influence on the develop of CNC system. The open CNC system differ from traditional CNC systems on both the integrated system structure and concrete realization algorithms. In this paper, we has been discussed the concept and the architecture of pc-based open-architecture NC system. by the way of using PMAC to achieve design and construct of open CNC..
The paper base on NC engraving and milling machine to be controlled object,across to its characteristics and motion form,designed PC and PMAC numerical control system,which is support by IPC,and core by PMAC, and base on windows2000.
The content include hardware and software plan. Across to design, the key technique system has been debugged and motion has been discussed. The open system’s hardware is base on PC and PMAC, choose the electric drive assembly. Includes AC servo and suit AC servo drivers. The software including real-times movement control and system manage. real-times movement control using for monitor and control, setting variable initialization and call the background PLC process. system manage using for system resources assign and process dispatch. The mostly is design human machine interface,across to PMAC with dynamic link library(pmac.dll),achieve data traffic between IPC and PMAC,to download sports programs,so fulfill the controlled object to be fast,preciseness,real-time. And analysis the PVT Algorithm, apply the PVT Algorithm to motion program, Achieve fast,preciseness in complex Trajectories.
引文
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[2]王爱玲、张吉堂现代数控原理及控制系统.北京,国防工业出版社2005.257-259
[3] PMAC2使用手册,2000
[4]唐小会.基于PC的开放式数控系统的研究与开发[D].电子科技大学,2003.
[5]李雁翎.Visual Basic程序设计(第2版).北京:清华大学出版社,2007.
[6]张爱民主编.自动控制原理.北京:清华大学出版社. 2006.
[7]刘金馄.先进PID控制及其MATLAB仿真.北京:电子工业出版社,2003.
[8]牛志刚.P RS-XY混联加工平台开放式数控系统[J] .航空制造技术,2005,4:89-91
[9]李文斌.数控技术及应用[[M].北京:煤炭工业出版社,2000:28-29.
[10]殷国富、杨随先,计算机辅助设计与制造技术原理及应用,四川大学出版社,2001
[11]常明,朱林,计算机图形学,华中科技大学出版社,2002
[12]陈蔚芳,王宏涛,主编.机床数控技术及应用[ M] .北京:科学出版社,2005.
[13] [美]Gene F. Franklin , J . David Powell , Abas Emami - Naeini著.朱齐丹等人译.动态系统的反馈控制第四版北京:电子工业出版社,2004.
[14]李刚,杨继东,等.基于PC的开放式数控系统的开发[J].机床与液压.2006(4).84-87
[15]吴玉厚,潘振宁,张珂,高玉山.PMAC控制器中PID调节的应用,沈阳建筑工程学院院报(自然科学版)[J]2004,4.61-65
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[17]北京元茂兴控制设备技术有限责任公司.PMAC用户手册.
[18]黎凌霄,吕强中.一种开放性结构的基于PC的可编程多轴控制器( PMAC) [J].机电一体化2002.8 ( 1 ):41-44
[19] PMAC2 User Manual. Delta Tau Data System. inc. 2004.
[20]王珍华,刘亚斌,基于PMAC的某传动机构性能测试系统[J],微计算机信息,2007(23).78-81
[21] Pwin32 Pro2 Software.Delta Tau Data System, inc.2005.
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[23]卢毅.Visual Basic实例教程[M].北京:科学出版社,2001
[24]郑魁敬,赵永生.基于PMAC的并联机床运动控制技术研究[J].机床与液压,2004(8):3-4.
[25]唐小会.基于PMAC的开放式数控系统实验平台的研究与开发[J].中国测试技术,2003(1):1-3.
[26]戴晓华.基于软件重用技术开放式数控系统研究与开发[D].杭州:浙江大学机械与能源工程学院,2002.(2): 10-20.
[27]欧阳航空.基于PMAC的精密定位系统研究[J].机电一体化,2005(1):6-7.
[28] ]王培功,彭伟,翁泽宇.数控机床进给系统的动态优化设计[J].机械设计与制造,2005( 8 ):101-103.
[29]朱喜林,张代治.机电一体化设计基础[ M].北京:科学出版社,2004.
[30]方成刚等著,数控强力切削的颤振机理研究.南京:南京土业大学.2004.
[31]周凯著.PC数控原理系统及其应用.北京:机械工业出版社,2006
[32]孔慧勇基于运动控制卡的全闭环系统研究.四川大学硕士论文. 2003. 25-27.
[33]李艳东,王宗义,基于PMAC的三轴转台的伺服系统设计[J],应用科技.2007(7).100-121
[34]李永东主编.交流电机数字控制系统.北京:机械工业出版社. 2002
[35] Yu Z. ,Mohammed A Panahi .I. A review of three PWM techniques . PACC 1997 (1.1) :257-261
[36]王振水,王然冉.电机的数学模型和参数识别,北京:机械工业出版社. 1991
[37]陈伯时著.电力拖动自动控制系.北京:机械土业出版社,2003
[38] RobertJ. Miklosovic. A Closed Loop Feedback Method for a Manual Bar Straighteer .Master 's Thesis, Department of Electrical and Computer Engineering , Cleveland State. University, August 2001.45-47
[39] Y.Y.Chang and P .L Hsu The design of precise motion systems byapplying both the advanced controllers and the interpolators.in Proc.6th.Workshop Advanced MotionContr. ,Nagoya ,Japan ,Mar.2000,240-245 .
[40]彭玉海,基于PMAC的数控系统研究与开发,西安理工大学硕士论文,2007
[41]张爱民主编.自动控制原理.北京:清华大学出版社.2006
[42]张兆隆,孙志平,基于PMAC的开放式综合数控实验系统的研究[J].装备制造技术.2007(12).200-204
[43]丛爽,李泽湘.实用运动控制技术[M].北京:电子工业出版社,2006.
[44]解巨军.基于PMAC切割机器人交流伺服控制系统[D].哈尔滨:哈尔滨工程大学,2006
[45]彭玉海,白海清,何宁,基于PMAC的数控进给系统精度控制研究[D].2008(6).121-125
[46]陈荣,邓智泉等。永磁同步伺服系统电流环的设计闭环.南京航空航天大学学报2004,36( 4 ) :220-225 .
[47] Schustar G.M.xiaohuan Li.Katasaggelos A.K. Shape error concealment using Hermite splines.Image Processing ,IEEE Transactions.2004,6,13,808-820
[48] J.L.Gao.D.Li,S.L.Zheng,et al.An Open Computerized Numerical Control System with Module Architecture.Jurnal of South China University of Technology(Natural Science Edition),2005,33(6):36-40
[49] N.Gchikurow and D.N.Kir’yanov.Speed-loop control in numerical-control systems of class ICNC. Russian Engineering Research.2008.4.3.182-184
[2]王爱玲、张吉堂现代数控原理及控制系统.北京,国防工业出版社2005.257-259
[3] PMAC2使用手册,2000
[4]唐小会.基于PC的开放式数控系统的研究与开发[D].电子科技大学,2003.
[5]李雁翎.Visual Basic程序设计(第2版).北京:清华大学出版社,2007.
[6]张爱民主编.自动控制原理.北京:清华大学出版社. 2006.
[7]刘金馄.先进PID控制及其MATLAB仿真.北京:电子工业出版社,2003.
[8]牛志刚.P RS-XY混联加工平台开放式数控系统[J] .航空制造技术,2005,4:89-91
[9]李文斌.数控技术及应用[[M].北京:煤炭工业出版社,2000:28-29.
[10]殷国富、杨随先,计算机辅助设计与制造技术原理及应用,四川大学出版社,2001
[11]常明,朱林,计算机图形学,华中科技大学出版社,2002
[12]陈蔚芳,王宏涛,主编.机床数控技术及应用[ M] .北京:科学出版社,2005.
[13] [美]Gene F. Franklin , J . David Powell , Abas Emami - Naeini著.朱齐丹等人译.动态系统的反馈控制第四版北京:电子工业出版社,2004.
[14]李刚,杨继东,等.基于PC的开放式数控系统的开发[J].机床与液压.2006(4).84-87
[15]吴玉厚,潘振宁,张珂,高玉山.PMAC控制器中PID调节的应用,沈阳建筑工程学院院报(自然科学版)[J]2004,4.61-65
[16]吕强中,基于PC机的开放式数控系统的研究及开发.华中理工大学硕士论文.
[17]北京元茂兴控制设备技术有限责任公司.PMAC用户手册.
[18]黎凌霄,吕强中.一种开放性结构的基于PC的可编程多轴控制器( PMAC) [J].机电一体化2002.8 ( 1 ):41-44
[19] PMAC2 User Manual. Delta Tau Data System. inc. 2004.
[20]王珍华,刘亚斌,基于PMAC的某传动机构性能测试系统[J],微计算机信息,2007(23).78-81
[21] Pwin32 Pro2 Software.Delta Tau Data System, inc.2005.
[22] Pcomm32 Pro Software Manua1.Delta Tau Data System. Inc.2003.
[23]卢毅.Visual Basic实例教程[M].北京:科学出版社,2001
[24]郑魁敬,赵永生.基于PMAC的并联机床运动控制技术研究[J].机床与液压,2004(8):3-4.
[25]唐小会.基于PMAC的开放式数控系统实验平台的研究与开发[J].中国测试技术,2003(1):1-3.
[26]戴晓华.基于软件重用技术开放式数控系统研究与开发[D].杭州:浙江大学机械与能源工程学院,2002.(2): 10-20.
[27]欧阳航空.基于PMAC的精密定位系统研究[J].机电一体化,2005(1):6-7.
[28] ]王培功,彭伟,翁泽宇.数控机床进给系统的动态优化设计[J].机械设计与制造,2005( 8 ):101-103.
[29]朱喜林,张代治.机电一体化设计基础[ M].北京:科学出版社,2004.
[30]方成刚等著,数控强力切削的颤振机理研究.南京:南京土业大学.2004.
[31]周凯著.PC数控原理系统及其应用.北京:机械工业出版社,2006
[32]孔慧勇基于运动控制卡的全闭环系统研究.四川大学硕士论文. 2003. 25-27.
[33]李艳东,王宗义,基于PMAC的三轴转台的伺服系统设计[J],应用科技.2007(7).100-121
[34]李永东主编.交流电机数字控制系统.北京:机械工业出版社. 2002
[35] Yu Z. ,Mohammed A Panahi .I. A review of three PWM techniques . PACC 1997 (1.1) :257-261
[36]王振水,王然冉.电机的数学模型和参数识别,北京:机械工业出版社. 1991
[37]陈伯时著.电力拖动自动控制系.北京:机械土业出版社,2003
[38] RobertJ. Miklosovic. A Closed Loop Feedback Method for a Manual Bar Straighteer .Master 's Thesis, Department of Electrical and Computer Engineering , Cleveland State. University, August 2001.45-47
[39] Y.Y.Chang and P .L Hsu The design of precise motion systems byapplying both the advanced controllers and the interpolators.in Proc.6th.Workshop Advanced MotionContr. ,Nagoya ,Japan ,Mar.2000,240-245 .
[40]彭玉海,基于PMAC的数控系统研究与开发,西安理工大学硕士论文,2007
[41]张爱民主编.自动控制原理.北京:清华大学出版社.2006
[42]张兆隆,孙志平,基于PMAC的开放式综合数控实验系统的研究[J].装备制造技术.2007(12).200-204
[43]丛爽,李泽湘.实用运动控制技术[M].北京:电子工业出版社,2006.
[44]解巨军.基于PMAC切割机器人交流伺服控制系统[D].哈尔滨:哈尔滨工程大学,2006
[45]彭玉海,白海清,何宁,基于PMAC的数控进给系统精度控制研究[D].2008(6).121-125
[46]陈荣,邓智泉等。永磁同步伺服系统电流环的设计闭环.南京航空航天大学学报2004,36( 4 ) :220-225 .
[47] Schustar G.M.xiaohuan Li.Katasaggelos A.K. Shape error concealment using Hermite splines.Image Processing ,IEEE Transactions.2004,6,13,808-820
[48] J.L.Gao.D.Li,S.L.Zheng,et al.An Open Computerized Numerical Control System with Module Architecture.Jurnal of South China University of Technology(Natural Science Edition),2005,33(6):36-40
[49] N.Gchikurow and D.N.Kir’yanov.Speed-loop control in numerical-control systems of class ICNC. Russian Engineering Research.2008.4.3.182-184