外文翻譯--基于渦輪pmac的高精度運(yùn)動(dòng)控制系統(tǒng)的研究（英文）

1、Research of A High-Precision Motion Control System Based on Turbo PMAC Yanbing Zhang, Shuncai Yao School of Infonnation and Communication Engineering, North University of China, Taiyuan, Shanxi, 030051,China zhybg_1126@n

2、uc.edu.cn Abstract-In order to complete all kinds of simulation tests of the moving object, this paper designed a high-precision motion control system based on Turbo PMAC. It summarized the characteristics of Turbo PMAC,

3、 introduced the composing and principle of the system, emphatically elucidated the control algorithm of PID + velocity! acceleration feed forward. In order to reduce the positioning error of the system , linear interpola

4、tion method was made to realize linear fitting. By means of adjusting PID control parameters , the system got the good steady - state characteristics and dynamic characteristic. The test results show that the system is e

5、xcellent in operation with stable performance. Keywords- Turbo PMAC; motion control; PID; linear interpolation I. INTRODUCTION In order to complete all kinds of simulation tests of the moving object, the accurate tr

6、action control must be achieved. The object should follow the speed and track planned move to the designated place under the control of the computer[l]. With the rapid development of modem industrial technology, the mot

7、ion control system is more and more often applied to electronics assembly, ultraprecision machining, package, nanotechnology and other processing industries in different fields. It is a smart, high efficiency, and accura

8、te, and is elevating the level of automation. As a typical control algorithm, PID is widely applied in industry. The PID controller has being studied for about 80 years by now, it becomes one of industry control main tec

9、hnology because its simple structure, well stability and credibility work. This paper researched a open type motion control system based on Turbo PMAC, which adopted the control algorithm of PID + velocity/ acceleration

10、feedforward. In order to reduce the positioning error, linear fitting was applied to the curve of objective displacement by linear interpolation method. II. HARDWARE DESIGN OF MOTION CONTROL SYSTEM A. The structure and

11、 working principle of the system The system uses PC as the base platfonn, mainly including motion control card, servo driver, servo motor, workbench and feedback assembly. The structure diagram is shown in Fig.I. The mot

12、ion control card adopts open type multi-axis motion controller Turbo PMAC PCI Lite produced by the American Delta Tau company. PC sends all kinds of control commands by means of supervision software, and servo moto

13、r can be controlled by PMAC. The 978-1-4244-5540-9/10/$26.00 ©2010 IEEE 39 digital servo amplifier s620 and AKM52K produced by the American Danaher Motion company are selected as the servo driver and the servo motor

14、. The object follows the speed and track planned move to the designated place by wirerope gearing under the action of AKM52K. The closed­loop system can feed back the displacement, velocity and acceleration of the m

15、otor and the object by the resolver and the accelerometer. ?2? 3_2/_?_5 __ -. __ ? PCl Figure I. The system block diagram B. Turbo P MA C PCl Lite Turbo PMAC PCI Lite, whose core is a digital signal processor DSP

16、56303,can achieve motion control, logical control, disposition of resources, interaction with host, etc. It is a member of the Turbo PMAC family of boards optimized for interface to traditional servo drives with single a

17、nalog inputs representing velocity or torque commands. Its software is capable of 32 axes of control. It can have up to four channels of on-board axis interface circuitry. It can also support up to 32 channels of o

18、ff-board axis interface circuitry through its expansion port. The Turbo PMAC PCI Lite is a full-sized PCI-bus expansion card. While the Turbo PMAC PCI Lite is capable of PCI bus communications, with or without the option

19、al dual-ported RAM, it does not need to be inserted into a PCI expansion slot. Communications can be done through an RS-232 or RS-422 serial port. Standalone operation is possible[2]. C. Servo driver and servo mo

20、tor AKM52K provides a very high torque, density and accelerated velocity, so it can meet the demands of high­speed application. The electrical specifications of AKM52K are shown in TABLE 1. ?PID lmer aCll verMl? I-o

21、t-or-:- l--------------------- ?-- IQ? ?P,esenIPIOTetl'- . . liSlepMOve I“““'“ Implemenl AUIO .. T uOing G . ? m. r,;;;- 1000 1 .. 301(pJ ? , Slep Size ICIsJ: I'“'“ IXl311(dJ ? ImplemeniOngm

22、.IG.tn. I ' ? I '“'“ l SI'll T,“el ?? J: I'““ 1 .. 311(?IJ ? PIOOi.? ?? ? rT'<iectIMjSem 1 .. 331 (i J I“ r. Position Step 1 .. 3111NJ ro--1 .. 35 I (.11 J r-r Position Ramp r P

23、BlBbolic Yelocitt OoA?lep Move 1 .. 19 p0o- r TlBpezoidalYelocitt r (il N?OI Allet Slep Nove 1 .. 69 ? I“'“' r S-CUrve Yelocitt r Move n one dieclion I .. GO 1 .. 68 1 .. 11 ro-- r Sinusoidal If

24、oO“ r Sine Sweep rzoo- r User Defined 1--------' ?----', RijAtisPn Enable Nol? 11 H?ch Filet I low P.II F.et I IN.. .1 C.?ul?OI C.lcul.l? ' I ? .iL E'il I I I---:-=' :..- --..J N?chllow P.II F

25、iRet ?elup ? ? NolchllowP,“Filletlnaclive Figure3. The PID parameter adjustment interface of Pmac Tuning Pro . - -1- - 4 - - or - - ? - - - ““1 - - ? - - t' - - t- - -1- - -, __ ' - _ .J _ _L __ L _ _ _ .

26、.J __ .J. _ _ L _ _L __ 1 _ _ _ I 1 - _1- _ _ _ _1. __ !. _ _ . _ _ 1 __ .!. _ _ 1. _ _1 ___ 1 _ _ _ I 1 1 1 1 1 1 I 1 I I I 1 I - -1- - 1 - - r - - r - - . - -1- - 1 - - r - - (“ - -1- - -- -

27、1- - “i - - t- - - t- - - - ., - - -+ - - t- - - t- - -1- - -I I 1 1 Figure 4. The response curve of Position Step FigureS. The response curve of Parabolic Velocity 41 C the communication between PC and PMAC PMAC c

28、an communicate with the upper windows applications through PComm32, which is a communication driver offerd by Delta Tau Corporation. PComm32 consists of PMAC. DLL, PMAC. SYS, PMAC.VXD. It is a very effective development

29、tool and has good compatibility with Delphi[6]. This system achieves the communication between PC and PMAC by using Pcomm32 dynamic link library functions. The monitoring software developed with Delphi can achieve motio

30、n control, data acquisition and stateful inspection. D. Motion program control module In practical applications, the trajectories of the moving object are difficult to express by formulas. In order to improve control pr

31、ecision, we may divide the trajectorie according to their curvature, and apply linear interpolation method to fit the the trajectories. Vtl .1 v v+---, Tim. tl ' tl V2 .._ -- V -- -Vf Af=112/V Wit 2 Figure6. PVT

32、Mode Contouring 2t Tinw T' For the user who desires more direct control over the trajectory profile, PMAC offers Position-V elocity-Time (PVT) mode moves. In these moves, the axis states are specified directly at t