编译型数控系统运动控制器的研制

发布时间：2018-03-11 20:46

本文选题：编译型数控　切入点：FPGA　出处：《哈尔滨工业大学》2014年硕士论文　论文类型：学位论文

【摘要】：随着我国制造业的发展，加工需求对数控系统提出了更高的要求，运动控制器作为数控系统的核心部件，主要依赖进口。国外运动控制器高昂的价格制约着我国数控系统的发展，开展具有自主知识产权的低成本优质运动控制器的研究，对我国数控系统的发展有着深远的意义。开放性、模块化、高精、高速是运动控制器的主要发展趋势。在传统的数控系统中，运动控制系统由运动控制器和伺服驱动器构成，以微处理器为核心的运动控制器控制伺服驱动器实现运动控制。专用的伺服驱动器限制着运动控制系统的开放性，，微处理器体系结构决定了运动控制器只能实现单一的实时性任务，基于微处理器的运动控制器难以满足模块化的发展要求。本文基于编译型数控系统体系结构，提出基于FPGA的新型运动控制器解决方案，将打破传统数控系统采用运动控制器控制伺服驱动器的运行模式。在运动控制器中集成传统运动控制器和伺服驱动器，实现双轴系统的数据通讯、运动控制和伺服驱动功能。将运动控制系统模块化，提升控制系统的开放性，同时降低运动控制系统成本。首先进行了基于FPGA的运动控制器的总体设计，研究了永磁同步电机的数学模型、运动控制策略和驱动控制算法，完成了控制系统的理论设计，建立其MATLAB仿真模型并进行仿真设计。然后根据硬件功能需求，完成了各功能模块的设计并搭建运控控制器的硬件支撑平台。其次对运动控制器软件功能需求进行分析和设计，研究并完成了基于FPGA的海量数据存储控制算法实现；以及基于FPGA的运动控制算法和驱动控制算法的数字化设计；搭建了运动控制器软件支撑平台。最后对运动控制器进行实验研究，验证运动控制器的数据通讯能力、运动控制和电机驱动控制能力。通过对运动控制器的实验研究，完成了基于FPGA的新型运动控制器可行性验证，集成传统运动控制器和伺服驱动器的运动控制器能够实现双轴驱动和联动控制，以及海量数据连续读写。并提出了下一步研究工作的重点。
[Abstract]:With the development of manufacturing industry in our country, machining demand has put forward higher requirements for CNC system. Motion controller is the core component of CNC system. The high price of motion controller abroad restricts the development of CNC system in China. The research of low cost and high quality motion controller with independent intellectual property rights is of great significance to the development of CNC system in China. Opening, modularization, high precision and high speed are the main development trends of motion controller. In the traditional NC system, the motion control system is composed of motion controller and servo driver. The motion controller with microprocessor as the core controls the servo driver to realize the motion control. The special servo driver limits the opening of the motion control system. The architecture of the microprocessor determines that the motion controller can only achieve a single real-time task, and the motion controller based on the microprocessor can not meet the requirements of modularization development. Based on the architecture of compiled NC system, a new motion controller solution based on FPGA is proposed in this paper. In order to realize the data communication of the biaxial system, the traditional motion controller and servo driver will be integrated into the motion controller, which will break the operation mode of the traditional NC system using the motion controller to control the servo driver. The motion control system is modularized to improve the openness of the control system and to reduce the cost of the motion control system. Firstly, the overall design of the motion controller based on FPGA is carried out, and the mathematical model, motion control strategy and driving control algorithm of PMSM are studied, and the theoretical design of the control system is completed. The MATLAB simulation model is established and the simulation design is carried out. Then, according to the hardware functional requirements, the design of each functional module is completed and the hardware supporting platform of the operation control controller is built. Secondly, the functional requirements of the motion controller software are analyzed and designed. The realization of mass data storage control algorithm based on FPGA and the digital design of motion control algorithm and drive control algorithm based on FPGA are studied and completed. The software supporting platform of motion controller is built. Finally, the experimental research on motion controller is carried out to verify the capability of data communication, motion control and motor drive control of motion controller. The feasibility of the new motion controller based on FPGA is verified by the experimental research on the motion controller. The motion controller which integrates the traditional motion controller and the servo driver can realize the biaxial drive and linkage control. And mass data continuous reading and writing. And put forward the next research focus.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM571

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