基于多机伺服驱动现场总线的实现和人机交互软件开发

发布时间：2018-03-25 01:08

本文选题：多机伺服驱动　切入点：SERCOS总线　出处：《浙江大学》2014年硕士论文

【摘要】：随着工业设备的大型化和集成化发展,一个大型机器往往具有多达几十个的伺服驱动器,这些伺服驱动器需要非常高的同步精度来保证整个系统正常运行。如果要往这类系统中添加第三方的传动,就需要设计一个可以获取原系统同步信息的控制器。基于这种背景,本文以SERCOS总线为例,设计具有SERCOS接口的控制器,可以将第三方传动添加到使用SERCOS总线的多轴伺服驱动系统中。同时,基于LabVIEW开发上位机软件,实现对指定传动的人机交互界面和管理检测的功能,最后将该软件移植到ARM平台上。本文首先调试了一套伺服系统,研究空间矢量控制算法以及基于DSP实现该算法的软件架构。接着,文章对最新的SERCOS Ⅲ协议进行分析,了解它的物理层和数据链路层的结构特征,并比较分析了SERCOS实际应用的两种同步机制。然后,基于SERCOS总线和以太网设计了从站伺服接口,包括两种接口的硬件设计和软件调试,重点介绍SERCOS接口的初始化过程和DSP控制板连入多机伺服系统实现同步的具体过程。最后,基于LabVIEW开发上位机软件,实现对指定电机进行管理以及批量读写参数的功能,并将该软件移植到ARM平台手持式操作设备上。利用SERCOS接口可以获取大型报机系统中的虚拟主轴信息,为实现与虚拟主轴的同步运行提供有利条件,说明所设计的SERCOS总线接口电路可以适用于多机伺服驱动系统中。同时,开发的上位机软件皆能实现对指定伺服电机的人机交互,表明上位机软件设计合理有效。
[Abstract]:With the large-scale and integrated development of industrial equipment, a large machine often has servo drive up dozens of the servo driver requires synchronization accuracy is very high to ensure the normal operation of the whole system. If you want to add the third party to the transmission of this kind of system, it is needed to design a synchronous system can obtain the information of the original the controller. Based on this background, this paper uses SERCOS bus as an example, the controller design with SERCOS interface, can be added to the third drive multi axis servo drive system using SERCOS bus. At the same time, based on the LabVIEW development of PC software, realize the man-machine interface and the management of the specified drive detection function, finally the software is ported to the ARM platform.
Firstly, debugging a set of servo system, research of space vector control algorithm and realize the algorithm based on DSP software architecture. Then, based on SERCOS Protocol III latest analysis, understand the structural features of the physical layer and data link layer, and a comparative analysis of two kinds of synchronization mechanism and practical application of SERCOS., SERCOS bus and Ethernet is designed based on the slave servo interface, including hardware design and software debugging interface two, focuses on the initialization process of SERCOS interface and DSP control board connected to the multi machine servo system to realize the specific process of synchronization. Finally, LabVIEW development of PC based software, realize the function of management and batch to read and write the specified parameters of the motor, and the software is ported to the ARM platform for handheld operation equipment.
You can get the virtual axis machine in the large information system reported the use of SERCOS interface to provide favorable conditions for the realization of synchronous operation and virtual spindle, SERCOS bus interface circuit design can be applied to multi machine servo drive system. At the same time, PC software development can achieve the specified servo motor that human-computer interaction. The PC software design is reasonable and effective.

【学位授予单位】：浙江大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TP336;TP273

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