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1、基于PCI 和USB总线的开放式运动控制器开发 摘 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机为基本，配上多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他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作为核心解决器的开放式运动控制器将PC机的信息解决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，具有信息解决能力强、开放限度高、运动轨迹控制精确、通用性好等长处，因此发展迅速。此后基于计算机原则总线的开放式运动控制器仍然是市场发展的主流
2、。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总线的设备也因其长处而得以迅速发展。针对国内外开放式运动控制器存在的某些缺陷，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、存在某些技术上的局限性等，本文以DSP芯片TMS320LF2407作为解决器，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，运用CPLD器件EPM7128构建两路QEP信号解决电路并辅助完毕译码等功能，同步开发了接口卡负责完毕控制卡与外部器件的互联并进行光电隔离和电平转换。DSP除了完毕与上位机的通讯
3、，内部还嵌入了许多控制算法，涉及基于前馈补偿的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。同步，提供了丰富的动态链接库函数供顾客调用，并在此基本上开发了测试软件。实验和仿真成果表白，系统设计合理，具有实时性好，跟随误差小，加工精确度高等长处。核心词 开放式运动控制器；USB 2.0合同；PCI总线；NURBS插补；DSP Development of Open-Type Motion Controller Based on PCI and USB Bus AbstractThe open-type numerical control system has
4、 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 extended out of the machine-processing field; more and more are applied in control of other indu
5、strial 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 uses DSP and CPLD/FPGA as core processors and combines the information-handling capacity and th
6、e 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, good versatility. From now on, the development of open-type motion controllers based on computer
7、 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 merits of USB.Aiming at the shortcomings of domestic and foreign open-type motion controllers,
8、 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 motion controllers based on PCI bus and USB bus respectively with TMS320LF2407 as their proces
9、sors. 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 decoding; at the same time, the auxiliary I/O card is also developed to connect the controller and e
10、xternal 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 algorithm with feed-forward compensation, the parameter curve auto-adapted time-division interpolation a
11、lgorithm, 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 and simulation result indicates that the system is designed reasonably, with many advantages such as g
12、ood 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不要删除行尾的分节符，此行不会被打印目 录摘要IAbstractII第1章 绪论11.1 开放式运动控制技术概述11.1.1 开放式数控系统11.1.2 基于PC机的开放式运动控制器21.2 开放式运动控制器研究现状、局限性及发展趋势41.2.1 运动控制器的
13、分类41.2.2 国内外开放式运动控制器的研究现状51.2.3 目前基于PC的运动控制器存在的局限性61.2.4 基于PC的开放式运动控制器的发展趋势71.3 课题来源及重要研究内容8第2章 伺服系统控制核心技术研究92.1 运动系统的控制技术概述92.2 伺服电机控制原理92.2.1 交流伺服电机简介92.2.2 交流伺服电机的控制模式102.2.3 伺服电机的PID调节方案112.3 参数曲线的时间分割插补算法142.3.1 时间分割插补原理142.3.2 参数曲线自适应插补算法142.4 NURBS插补原理172.4.1 NURBS插补简介172.4.2 三次NURBS曲线的数学描述17
14、2.4.3 NURBS曲线插值原理192.5 本章小结21第3章 PCI和USB总线规范与操作223.1 PCI总线223.1.1 PCI总线的基本概念223.1.2 PCI总线的特点223.1.3 PCI局部总线信号定义233.1.4 PCI总线合同基本243.2 USB总线273.2.1 USB的长处273.2.2 USB系统的分层构造273.2.3 USB数据通讯构造293.2.4 USB的控制传播与中断传播303.2.5 USB软件编程基本333.3 本章小结34第4章 PC机与DSP通讯电路设计354.1 运动控制器硬件电路总体设计方案354.2 DSP 芯片TMS320LF2407
15、简介364.3 PCI总线与DSP通讯电路设计374.3.1 PCI总线接口电路实现措施374.3.2 PCI总线接口芯片选择384.3.3 PCI 9052的重要特点384.3.4 PCI 9052的工作原理394.3.5 E2PROM的配备404.3.6 PCI-DSP通讯电路414.4 USB总线与DSP通讯电路设计434.4.1 USB接口芯片选择434.4.2 ISP-1581的特性434.4.3 ISP-1581的引脚简介444.4.4 ISP-1581有关寄存器简介454.4.5 USB-DSP通讯电路设计474.5 本章小结48第5章 运动控制器硬件电路设计495.1 DSP辅助电路495.1.1 JTAG测试接口电路495.1.2 供电电路505.1.3 时钟电路505.2 存储器扩展电路515.3 控制电压转换电路515.4 CPLD解决电路525.4.1 地址译码535.4.2 正交编码脉冲解决及计数535.4.3 中断逻辑565.5 接口卡电路分析565.5.1 差分信号解决电路565.5.2 输入输出信号解决电路575.6 运动控制器硬件开放性的实现595.7 本章小结59第6章 运动控制器软件开发及调试6
