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1、-I-基于基于 PCI 和和 USB 总线的开放式运动控制器开发总线的开放式运动控制器开发 摘摘 要要开放式数控系统已成为当今数控技术的发展方向，目前的开放式数控系统 多以 PC 机为基础，配上各种开放式运动控制器。运动控制器的应用已走出机 械加工行业，越来越多地应用于其它工业自动化设备控制，如机器人控制、电 子机械、木工机械、纺织机械、印刷机械等诸多行业。 基于 PC 总线的以 DSP 和 CPLD/FPGA 作为核心处理器的开放式运动控制 器将 PC 机的信息处理能力和开放式的特点与运动控制器的运动轨迹控制能力 有机地结合在一起，具有信息处理能力强、开放程度高、运动轨迹控制准确、 通用性好
2、等优点，因此发展迅速。今后基于计算机标准总线的开放式运动控制 器仍然是市场发展的主流。PCI 总线解决了 ISA 总线的响应速度较慢的瓶颈， 近几年，基于 USB 总线的设备也因其优点而得以迅速发展。 针对国内外开放式运动控制器存在的一些缺点，诸如国外产品价格太高、 技术支持相对较差，国内产品不支持 USB 总线、存在一些技术上的不足等， 本文以 DSP 芯片 TMS320LF2407 作为处理器，分别基于 PCI 和 USB 总线开发 了多轴开放式运动控制器，并采用 PCI 9052 和 ISP-1581 作为接口芯片构建 PC-DSP 通讯电路，利用 CPLD 器件 EPM7128 构建两
3、路 QEP 信号处理电路并 辅助完成译码等功能，同时开发了接口卡负责完成控制卡与外部器件的互联并进行光电隔离和电平转换。 DSP 除了完成与上位机的通讯，内部还嵌入了许多控制算法，包括基于前 馈补偿的 PID 控制算法、参数曲线的自适应时间分割插补算法、直线/圆弧 /NURBS 插补算法等。同时，提供了丰富的动态链接库函数供用户调用，并在 此基础上开发了测试软件。实验和仿真结果表明，系统设计合理，具有实时性 好，跟随误差小，加工精确度高等优点。关键词关键词 开放式运动控制器；USB 2.0 协议；PCI 总线；NURBS 插补；DSP -II-Development of Open-Type
4、Motion Controller Based on PCI and USB Bus AbstractThe open-type numerical control system has become the development trend of NC technology nowadays, and the present NC systems are mainly based on PCs (personal computers) with various motion controllers. The application of motion controllers has ext
5、ended out of the machine-processing field; more and more are applied in control of other industrial automation devices, such as robot control, electronic machinery, woodworking machinery, textile machinery, printing mechanism, and so on. The open-type motion controller has developed rapidly, which u
6、ses DSP and CPLD/FPGA as core processors and combines the information-handling capacity and the open-type characteristic of PC with the controllers motion path control ability, having many advantages such as strong information-handling capacity, good open- type characteristic, precise motion path, g
7、ood versatility. From now on, the development of open-type motion controllers based on computer standard bus is still the market mainstream. The PCI bus solves the problem of low response velocity of ISA bus, and in recent years, equipments based on USB bus have also developed rapidly because of the
8、 merits of USB.Aiming at the shortcomings of domestic and foreign open-type motion controllers, for example, the overseas product price is high, the technical support is relatively weak, and the domestic product does not support USB bus, existing some technical flaws. this thesis develops multi-axis
9、 motion controllers based on PCI bus and USB bus respectively with TMS320LF2407 as their processors. PCI 9052 and ISP-1581 chips are adopted to construct the PC-DSP communication channel; CPLD component EMP7128 is used to achieve the functions of two groups of QEP signal processing and address decod
10、ing; at the same time, the auxiliary I/O card is also developed to connect the controller and external components after photo-electricity isolation and level transformation. Besides the communicating with PCs, the DSP has also been embedded many control algorithms, including the PID control algorith
11、m with feed-forward -III-compensation, the parameter curve auto-adapted time-division interpolation algorithm, the line/circle /NURBS interpolation algorithm, etc. A lot of dynamic link library functions are also provided for the users, and test software is developed with the functions. Experiment a
12、nd simulation result indicates that the system is designed reasonably, with many advantages such as good real-time performance, little following error and high processing precision.Key words open-type motion controller; USB 2.0 protocol; PCI bus; NURBS interpolation; DSP目目 录录摘要.I Abstract.II第 1 章 绪论 .1 1.1 开放式运动控制技术概述 .1 1.1.1 开放式数控系统 .1 1.1.2 基于 PC 机的开放式运动控制器 .2 1.2 开放式运动控制器研究现状、不足及发展趋势 .4 1.2.1 运动控制器的分类 .4 1.2.2 国内外开放式运动控制器的研究现状 .5 1.2.3 目前基于 PC 的运动控制器存在的不足 .6 1.2.4 基于 PC 的开放式运动控制器的发展趋势 .7 1.3 课题来源及主要研究内容 .8 第 2 章 伺服系统控制关键技术研究 .9 2.1 运动系统的控制技术概述 .9 2.2 伺服电机控制原理 .
