基于DSP的激光雕刻切割机运动控制系统研究
摘要
激光加工因其非接触加工、加工精度高和使用范围广等优点,已经越来越多的被应用于现代工业各领域。目前国内外在激光加工中普遍应用的数控系统是一种专用型、封闭式的系统,难以扩展,价格昂贵,无法适应现代高柔性、低成本的加工要求。因此,近年来具有良好的柔性和较低成本的开放式数控系统逐渐成为数控技术研究的热点,也代表了激光加工数控技术发展的方向。
数控系统是激光雕刻切割机的控制核心,其控制功能的强弱、控制性能的优劣直接关系着激光雕刻切割的加工质量与加工效率,对整个雕刻切割机的性价比和市场竞争力都至关重要。针对国产激光雕刻切割机现状和市场需求,研制开发基于高性能DSP的新型雕刻切割机数控系统,以提高国产激光雕刻机数控系统的性价比和市场竞争力,并为激光雕刻切割机最终用户改善产品质量、提高生产效率、节约生产成本提供有效手段。
围绕市场调研提出的激光雕刻切割机数控系统功能和性能要求,拟定了控制系统的体系结构,完成了控制系统的软硬件设计开发。硬件上,采用TI公司最新推出的TMS320F2812型32位定点DSP作为控制核心,通过CPLD扩展存储器和外围I/O,与基于单片机实现的人机界面配合,较好地兼顾了系统的控制性能与制造成本,也提高了系统设计灵活性和工作可靠性。软件上,采用汇编、C语言混合编程,用汇编语言完成实时性控制任务,C语言编程构造整个软件的主体框架、实现非实时性任务,既提高了系统软件的编程效率和可维护性,又保证了系统良好的实时性。此外,在运动控制算法上,应用NURBS曲线插补算法,较好地满足了激光切割加工对快速性和加工平稳性的要求。样机系统的软硬件联调表明,系统的功能和性能达到了预期设计要求。
Laser machining is applied widely in the industry for non-contact, high precision and wide application, etc. The common numeric control (NC) system that is widely applied in current laser processing both domestically and internationally, is a kind of specialized and closed system. Due to its limitation in expansion and high price, the system cannot meet the requirements of high flexibility and low cost in today’s processing industry. Therefore, research on NC technology in recent years has been focused more and more on the open NC system with outstanding flexibility and low cost, which also represents the developing direction of laser-processing NC technology.
The CNC system is the critical part of laser engraving and cutting machine system. The quality and efficiency of laser engraving and cutting process mainly depend on the functions and performance of CNC systems. A good CNC system is important to the price and the market of laser engraving and cutting machine. From the current state of homeland laser engraving and cutting machine and aiming at the requirements of users, this thesis introduces a new type CNC system for laser engraving and cutting machine based on DSP. The type of CNC system can improve the performance of machine with lower price and the competing of market of laser engraving and cutting machine, which provides a way to reform the engraving quality, to improve the efficiency and to save the cost of process.
From the investigation of the market of laser engraving and cutting machine, the architecture of hardware and software of the CNC system is planned according to the required functions and performance of the CNC system. In the system, a 32-bits fixed point of DSP TMS320F2812 is used as CPU, a CPLD is used for peripheral I/Os and the extension of memory and a MCU is used to implement the man-machine interface, which results the system with good control performance, lower cost, good flexibility, and higher reliability. Using C language assisted with assembly language programs the system’s software. Assembly language is used to complete real-time control tasks, and C language can be used to construct the frame of software and complete those unreal-time control tasks, which can not only improve the efficiency of programming and the maintenance of the program, but also provide the system with good real-time performance. In addition, the NURBS interpolator assisted with good accelerating and decelerating algorithm is used for the speed requirement of laser engraving and cutting machines. As the result, the developed prototype of the CNC system can wok with the anticipated functions and performance.
数控系统是激光雕刻切割机的控制核心,其控制功能的强弱、控制性能的优劣直接关系着激光雕刻切割的加工质量与加工效率,对整个雕刻切割机的性价比和市场竞争力都至关重要。针对国产激光雕刻切割机现状和市场需求,研制开发基于高性能DSP的新型雕刻切割机数控系统,以提高国产激光雕刻机数控系统的性价比和市场竞争力,并为激光雕刻切割机最终用户改善产品质量、提高生产效率、节约生产成本提供有效手段。
围绕市场调研提出的激光雕刻切割机数控系统功能和性能要求,拟定了控制系统的体系结构,完成了控制系统的软硬件设计开发。硬件上,采用TI公司最新推出的TMS320F2812型32位定点DSP作为控制核心,通过CPLD扩展存储器和外围I/O,与基于单片机实现的人机界面配合,较好地兼顾了系统的控制性能与制造成本,也提高了系统设计灵活性和工作可靠性。软件上,采用汇编、C语言混合编程,用汇编语言完成实时性控制任务,C语言编程构造整个软件的主体框架、实现非实时性任务,既提高了系统软件的编程效率和可维护性,又保证了系统良好的实时性。此外,在运动控制算法上,应用NURBS曲线插补算法,较好地满足了激光切割加工对快速性和加工平稳性的要求。样机系统的软硬件联调表明,系统的功能和性能达到了预期设计要求。
Laser machining is applied widely in the industry for non-contact, high precision and wide application, etc. The common numeric control (NC) system that is widely applied in current laser processing both domestically and internationally, is a kind of specialized and closed system. Due to its limitation in expansion and high price, the system cannot meet the requirements of high flexibility and low cost in today’s processing industry. Therefore, research on NC technology in recent years has been focused more and more on the open NC system with outstanding flexibility and low cost, which also represents the developing direction of laser-processing NC technology.
The CNC system is the critical part of laser engraving and cutting machine system. The quality and efficiency of laser engraving and cutting process mainly depend on the functions and performance of CNC systems. A good CNC system is important to the price and the market of laser engraving and cutting machine. From the current state of homeland laser engraving and cutting machine and aiming at the requirements of users, this thesis introduces a new type CNC system for laser engraving and cutting machine based on DSP. The type of CNC system can improve the performance of machine with lower price and the competing of market of laser engraving and cutting machine, which provides a way to reform the engraving quality, to improve the efficiency and to save the cost of process.
From the investigation of the market of laser engraving and cutting machine, the architecture of hardware and software of the CNC system is planned according to the required functions and performance of the CNC system. In the system, a 32-bits fixed point of DSP TMS320F2812 is used as CPU, a CPLD is used for peripheral I/Os and the extension of memory and a MCU is used to implement the man-machine interface, which results the system with good control performance, lower cost, good flexibility, and higher reliability. Using C language assisted with assembly language programs the system’s software. Assembly language is used to complete real-time control tasks, and C language can be used to construct the frame of software and complete those unreal-time control tasks, which can not only improve the efficiency of programming and the maintenance of the program, but also provide the system with good real-time performance. In addition, the NURBS interpolator assisted with good accelerating and decelerating algorithm is used for the speed requirement of laser engraving and cutting machines. As the result, the developed prototype of the CNC system can wok with the anticipated functions and performance.
引文
[1] K.I.Johnson. Current and future development of the plasmaron, laser and electron beam processing. San Diego, California, USA, 1998,5(24):1-10
[2]梅遂生.激光技术40年.大学物理, 2000,19(7):3-6
[3]廖月明,王续跃,周锦送.激光加工综合技术的研究.机械工程师,1998,03:4-5
[4]苏宝蓉.我国的激光加工现状及发展前景.激光与红外,1996,26(3):175-177
[5]王家淳.激光焊接技术的发展与展望.激光技术,2001,25(1):48-54
[6]张育川.我国激光产业的十年.激光与红外,2000,30(3):136-140
[7] S.G.Anderson. Review and forecast of the laser markets—Part I: Nondiode laser. Laser Focus Word, 2001,37(1):88-110
[8] R.V.Steele. Review and forecast of the laser markets—Part II: Diode laser. Laser Focus Word, 2001,37(2):84-99
[9]汤祖尧.试论我国的激光加工市场.激光与红外,1998,28(2):77-80
[10]许庆仁.国外激光加工技术的发展和应用.国际航空,1998,3:59-70
[11]张魁武.国外激光加工应用实例.激光与红外,1996,26(3):208-209
[12]田兴志.激光加工现状及21世纪的展望.光机电信息,2003,02:1-4
[13]王爱玲,张吉堂.现代数控原理及控制系统[M]北京:机械工业出版社2005 (2):9～15
[14]周济,周艳红.数控加工技术[M]北京:国防工业出版社2002,1 (1):30～38
[15] PC数控原理、系统及应用[M]北京:机械工业出版社2006.9 (1):47～57
[16] Y.D.Chen, J.Ni, S.M.Su. Real-time CNC Tool Path Generation for Machining IGES Surfaces. Journal of Engineering for Industry, 1993,115(4) :480～486
[17] M.Shpitalni, Y.Koren, C.C.Lo. Real Time Curve Interpolators. Computer Aided Design, l994,26(11) :832-838
[18] K.Suresh, D.Yang. Constant Scallop-height Machining of Free-form Surfaces. J. of Engineering for Industry, 1994,116(2):253-259
[19]游有鹏,王珉,朱剑英.参数曲线的自适应插补算法[J].南京航空航天大学学报,2000,32(6)
[20]王雅,叶友东.高速加工NURBS插补技术分析与应用[J].谋矿机械2004.9
[21]刘可照.基于机床动力学特性的NURBS曲线直接插补技术的研究[J].华中科技大学.2004.4
[22]赵鸿,袁俊生,卢泽生. NURBS曲线插补技术的应用[J].制造技术与机床1999.4
[23]姬晓天,施寅. NURBS的概念与使用[J]. 1998.12
[24]贾桂红NURBS曲线的直线与圆弧数控逼近算法[D]华北电力大学8～9
[25]吴六永.样条曲线(NURBS)原理及实现技术[J].西安交通大学学报
[26]王乾廷,杜贵生.三次NURBS曲线轮廓数控加工到位数据计算[J].合肥工业大学. 1999.12
[27]韩庆瑶,贾桂红.三次NURBS曲线轮廓的数控加工编程处理[J].谋矿机械. 2005.1
[28]李强,席光,王尚锦. NURBS曲线插值的实现方法与探讨[J].计算机工程与应用. 1999.7
[29] TMS320C28X DSP CPU and Instruction Set Reference Guide.TI.2003
[30] TMS320F28X DSP Peripherals Reference Guide.TI.2003
[31]刘和平,严利平,张学锋,卓清锋.TMS320LF240x DSP结构、原理及应用.北京航空航天大学出版社.2002
[32]刘和平,王维俊,江渝,邓力.TMS320LF240x DSP C语言开发应用.北京航空航天大学出版社.2003
[33] MAX 3000A Programmable Logic Device Family, Altera Corporation, June 2003
[34] Configuration EPROMs for FLEX Devices Data Sheet, Altera Corporation,October 1998
[35] MSP 430x43x, MSP430x44x Mixed Signal Microcontroller, Texas Instruments Incorporated, 2005
[36] K9F1G08Q0A, K9F1G08U0A FLASH Memory Data Sheet, SAMSUNG Electronics, May, 2004
[37] Bekir S.Yilbas , Experimental investigation into CO2 laser catting parameters , Saudi Arabia Journal of Materials Processing Technology, 1996:323
[38] Sun Hui.Lai, Lin Shu.zhong, Li Hong.lai, Research on the Optical Focusing System in the Laser Manufacturing, Europe-Asia Symposium on Advanced Engineering Design and Manufacturing for Globalization, 2004
[39] Li Hong.lai, Lin Shu.Zhong, Sun Hui.lai, Study of Helical Oil Grooved Journal Bearing and Laser Processing for the Grooves, Europe-Asia Symposium on Advanced Engineering Design and Manufacturing for Globalization, 2004
[40]张雄伟,陈亮,徐光辉,DSP芯片的原理与开发应用,北京:电子工业出版社,2003,136-159
[41]王念旭等,DSP基础与应用系统设计,北京:北京航空航天大学出版社,2001,48-51
[42]胡大可,MSP430系列单片机C语言程序设计与开发,北京:北京航空航天大学出版社,2003,45-48
[43]沈建华,杨艳琴,翟骁曙,MSP430系列16位超低功耗单片机原理与应用,北京:清华大学出版社,2004,3-5
[44]夏宇闻,Verilog数字系统设计教程,北京:北京航空航天大学出版社,2003
[45]郭耀辉,罗宾,胡波,DSP仿真环境下FLASH编程及DSP引导,电子产品世界,2002,(6):62-65
[46]丁洁,魏峰,李广宇,DSP外挂FLASH的在系统编程及并行引导装载方法的研究,电子技术应用,2003,(8):78-80
[47]李峻,李学全,胡德金,步进电机的运动控制系统及其应用,微特电机,2000,(2):37-39
[48]李为民,邢晓正,胡红专,邓伟平,基于DSP的步进电机控制系统设计,微特电机,2001,(3):27-28
[49]宋玉荣,刘贤兴,基于DSP的直线步进电机的控制系统设计,微电机,2001,(6),30-33
[50]李新民,马志瀛,基于DSP和CPLD及IPM的双电机控制系统,微特电机,2003,(4):22-23
[51]王宜结,步进电机自动加减速运行的研究,自动化技术与应用,2004,(2):52-54
[52]陈慰曾,加减速控制算法及其对数控加工的影响,机械制造,2000,(11):36-37
[2]梅遂生.激光技术40年.大学物理, 2000,19(7):3-6
[3]廖月明,王续跃,周锦送.激光加工综合技术的研究.机械工程师,1998,03:4-5
[4]苏宝蓉.我国的激光加工现状及发展前景.激光与红外,1996,26(3):175-177
[5]王家淳.激光焊接技术的发展与展望.激光技术,2001,25(1):48-54
[6]张育川.我国激光产业的十年.激光与红外,2000,30(3):136-140
[7] S.G.Anderson. Review and forecast of the laser markets—Part I: Nondiode laser. Laser Focus Word, 2001,37(1):88-110
[8] R.V.Steele. Review and forecast of the laser markets—Part II: Diode laser. Laser Focus Word, 2001,37(2):84-99
[9]汤祖尧.试论我国的激光加工市场.激光与红外,1998,28(2):77-80
[10]许庆仁.国外激光加工技术的发展和应用.国际航空,1998,3:59-70
[11]张魁武.国外激光加工应用实例.激光与红外,1996,26(3):208-209
[12]田兴志.激光加工现状及21世纪的展望.光机电信息,2003,02:1-4
[13]王爱玲,张吉堂.现代数控原理及控制系统[M]北京:机械工业出版社2005 (2):9～15
[14]周济,周艳红.数控加工技术[M]北京:国防工业出版社2002,1 (1):30～38
[15] PC数控原理、系统及应用[M]北京:机械工业出版社2006.9 (1):47～57
[16] Y.D.Chen, J.Ni, S.M.Su. Real-time CNC Tool Path Generation for Machining IGES Surfaces. Journal of Engineering for Industry, 1993,115(4) :480～486
[17] M.Shpitalni, Y.Koren, C.C.Lo. Real Time Curve Interpolators. Computer Aided Design, l994,26(11) :832-838
[18] K.Suresh, D.Yang. Constant Scallop-height Machining of Free-form Surfaces. J. of Engineering for Industry, 1994,116(2):253-259
[19]游有鹏,王珉,朱剑英.参数曲线的自适应插补算法[J].南京航空航天大学学报,2000,32(6)
[20]王雅,叶友东.高速加工NURBS插补技术分析与应用[J].谋矿机械2004.9
[21]刘可照.基于机床动力学特性的NURBS曲线直接插补技术的研究[J].华中科技大学.2004.4
[22]赵鸿,袁俊生,卢泽生. NURBS曲线插补技术的应用[J].制造技术与机床1999.4
[23]姬晓天,施寅. NURBS的概念与使用[J]. 1998.12
[24]贾桂红NURBS曲线的直线与圆弧数控逼近算法[D]华北电力大学8～9
[25]吴六永.样条曲线(NURBS)原理及实现技术[J].西安交通大学学报
[26]王乾廷,杜贵生.三次NURBS曲线轮廓数控加工到位数据计算[J].合肥工业大学. 1999.12
[27]韩庆瑶,贾桂红.三次NURBS曲线轮廓的数控加工编程处理[J].谋矿机械. 2005.1
[28]李强,席光,王尚锦. NURBS曲线插值的实现方法与探讨[J].计算机工程与应用. 1999.7
[29] TMS320C28X DSP CPU and Instruction Set Reference Guide.TI.2003
[30] TMS320F28X DSP Peripherals Reference Guide.TI.2003
[31]刘和平,严利平,张学锋,卓清锋.TMS320LF240x DSP结构、原理及应用.北京航空航天大学出版社.2002
[32]刘和平,王维俊,江渝,邓力.TMS320LF240x DSP C语言开发应用.北京航空航天大学出版社.2003
[33] MAX 3000A Programmable Logic Device Family, Altera Corporation, June 2003
[34] Configuration EPROMs for FLEX Devices Data Sheet, Altera Corporation,October 1998
[35] MSP 430x43x, MSP430x44x Mixed Signal Microcontroller, Texas Instruments Incorporated, 2005
[36] K9F1G08Q0A, K9F1G08U0A FLASH Memory Data Sheet, SAMSUNG Electronics, May, 2004
[37] Bekir S.Yilbas , Experimental investigation into CO2 laser catting parameters , Saudi Arabia Journal of Materials Processing Technology, 1996:323
[38] Sun Hui.Lai, Lin Shu.zhong, Li Hong.lai, Research on the Optical Focusing System in the Laser Manufacturing, Europe-Asia Symposium on Advanced Engineering Design and Manufacturing for Globalization, 2004
[39] Li Hong.lai, Lin Shu.Zhong, Sun Hui.lai, Study of Helical Oil Grooved Journal Bearing and Laser Processing for the Grooves, Europe-Asia Symposium on Advanced Engineering Design and Manufacturing for Globalization, 2004
[40]张雄伟,陈亮,徐光辉,DSP芯片的原理与开发应用,北京:电子工业出版社,2003,136-159
[41]王念旭等,DSP基础与应用系统设计,北京:北京航空航天大学出版社,2001,48-51
[42]胡大可,MSP430系列单片机C语言程序设计与开发,北京:北京航空航天大学出版社,2003,45-48
[43]沈建华,杨艳琴,翟骁曙,MSP430系列16位超低功耗单片机原理与应用,北京:清华大学出版社,2004,3-5
[44]夏宇闻,Verilog数字系统设计教程,北京:北京航空航天大学出版社,2003
[45]郭耀辉,罗宾,胡波,DSP仿真环境下FLASH编程及DSP引导,电子产品世界,2002,(6):62-65
[46]丁洁,魏峰,李广宇,DSP外挂FLASH的在系统编程及并行引导装载方法的研究,电子技术应用,2003,(8):78-80
[47]李峻,李学全,胡德金,步进电机的运动控制系统及其应用,微特电机,2000,(2):37-39
[48]李为民,邢晓正,胡红专,邓伟平,基于DSP的步进电机控制系统设计,微特电机,2001,(3):27-28
[49]宋玉荣,刘贤兴,基于DSP的直线步进电机的控制系统设计,微电机,2001,(6),30-33
[50]李新民,马志瀛,基于DSP和CPLD及IPM的双电机控制系统,微特电机,2003,(4):22-23
[51]王宜结,步进电机自动加减速运行的研究,自动化技术与应用,2004,(2):52-54
[52]陈慰曾,加减速控制算法及其对数控加工的影响,机械制造,2000,(11):36-37