【正文】 基于 PCI 和 USB 總線的開放式運(yùn)動(dòng)控制器開發(fā) I 基于 PCI 和 USB 總線的開放式運(yùn)動(dòng)控制器開發(fā) 摘 要 開放式數(shù)控系統(tǒng)已成為當(dāng)今數(shù)控技術(shù)的發(fā)展方向 ， 目前的開放式數(shù)控系統(tǒng)多以 PC 機(jī)為基礎(chǔ)，配上各種 開放式 運(yùn)動(dòng)控制器 。 運(yùn)動(dòng)控制器的應(yīng)用已走出機(jī)械加工行業(yè)，越來越多地應(yīng)用于其它工業(yè)自動(dòng)化設(shè)備控制，如機(jī)器人控制、電子機(jī)械、木工機(jī)械、紡織機(jī)械、印刷機(jī)械等諸多行業(yè)。 基于 PC 總線的以 DSP 和 CPLD/FPGA 作為核心處理器的開放式運(yùn)動(dòng)控制器將 PC 機(jī)的信息處理能力和開放式的特點(diǎn)與運(yùn)動(dòng)控制器的運(yùn)動(dòng)軌跡控制能力有機(jī)地結(jié)合在一起，具有信息處理能力強(qiáng)、開放程度高、運(yùn)動(dòng)軌跡控制準(zhǔn)確、通用性好等優(yōu)點(diǎn) ，因此發(fā)展迅速 。 今后基于計(jì)算機(jī)標(biāo)準(zhǔn)總線的開放式運(yùn)動(dòng)控制器仍然是市場(chǎng)發(fā)展的主流。 PCI 總線解決了 ISA 總線的響應(yīng)速度較慢 的 瓶頸 ， 近幾年， 基于 USB 總線 的設(shè)備也 因其 優(yōu)點(diǎn) 而得以 迅速發(fā)展。 針對(duì) 國(guó)內(nèi)外 開放式運(yùn)動(dòng)控制器 存在的 一些缺點(diǎn)， 諸如 國(guó)外產(chǎn)品 價(jià)格太高、 技術(shù)支持相對(duì)較差，國(guó)內(nèi)產(chǎn)品不支持 USB 總線 、存在一些 技術(shù)上的 不足 等 ， 本文 以 DSP 芯片 TMS320LF2407 作為處理器， 分別基于 PCI 和 USB總線開發(fā)了 多軸開放式運(yùn)動(dòng)控制器 ，并采用 PCI 9052 和 ISP1581 作為 接口芯片構(gòu)建 PCDSP 通訊 電路， 利用 CPLD 器件 EPM7128 構(gòu)建兩路 QEP 信號(hào)處理電路并輔助完成譯碼等功能 ，同時(shí)開發(fā)了接口卡負(fù)責(zé)完成控制卡與外部器件的互聯(lián)并進(jìn)行光電隔離和電平轉(zhuǎn)換 。 DSP 除了完成與上位機(jī)的通訊， 內(nèi)部 還 嵌入了許多 控制 算法，包括 基于前饋補(bǔ)償?shù)?PID 控制算法 、 參數(shù)曲線的自適應(yīng) 時(shí)間分割插補(bǔ) 算法、 直線 /圓弧 /NURBS 插補(bǔ)算法等 。同時(shí)， 提供了豐富的動(dòng)態(tài)鏈接庫函 數(shù) 供用戶調(diào)用，并在此基礎(chǔ)上開發(fā)了測(cè)試軟件 。實(shí)驗(yàn)和仿真結(jié)果表明，系統(tǒng)設(shè)計(jì)合理，具有實(shí)時(shí)性好，跟隨誤差小，加工精確度高等優(yōu)點(diǎn)。 關(guān)鍵詞 開放式運(yùn)動(dòng)控制器； USB 協(xié)議 ； PCI 總線； NURBS 插補(bǔ) ； DSP 基于 PCI 和 USB 總線的開放式運(yùn)動(dòng)控制器開發(fā) II Development of OpenType Motion Controller Based on PCI and USB Bus Abstract The opentype numerical control system has bee the development trend of NC technology nowadays, and the present NC systems are mainly based on PCs (personal puters) with various motion controllers. The application of motion controllers has extended out of the machineprocessing 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 opentype motion controller has developed rapidly, which uses DSP and CPLD/FPGA as core processors and bines the informationhandling capacity and the opentype characteristic of PC with the controller’s motion path control ability, having many advantages such as strong informationhandling capacity, good opentype characteristic, precise motion path, good versatility. From now on, the development of opentype motion controllers based on puter 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 shortings of domestic and foreign opentype 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 multiaxis motion controllers based on PCI bus and USB bus respectively with TMS320LF2407 as their processors. PCI 9052 and ISP1581 chips are adopted to construct the PCDSP munication channel。 CPLD ponent 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 external ponents after photoelectricity isolation and level transformation. 基于 PCI 和 USB 總線的開放式運(yùn)動(dòng)控制器開發(fā) III Besides the municating with PCs, the DSP has also been embedded many control algorithms, including the PID control algorithm with feedforward pensation, the parameter curve autoadapted timedivision 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 and simulation result indicates that the system is designed reasonably, with many advantages such as good realtime performance, little following error and high processing precision. Key words opentype motion controller。 USB protocol。 PCI bus。 NURBS interpolation。 DSP 基于 PCI 和 USB 總線的開放式運(yùn)動(dòng)控制器開發(fā) IV 目 錄 摘要 ............................................................................................................................... I Abstract ........................................................................................................................II 第 1 章 緒論 ................................................................................................................ 1 開放式運(yùn)動(dòng)控制技術(shù)概述 ............................................................................... 1 開放式數(shù)控系統(tǒng) ........................................................................................ 1 基于 PC 機(jī)的開放式運(yùn)動(dòng)控制器 ............................................................. 2 開放式運(yùn)動(dòng)控制器研究現(xiàn)狀、不足及發(fā)展趨勢(shì) ........................................... 4 運(yùn)動(dòng)控制器的分類 .................................................................................... 4 國(guó)內(nèi)外開放式運(yùn)動(dòng)控制器的研究現(xiàn)狀 .................................................... 5 目前基于 PC 的運(yùn)動(dòng)控制器存在的不足 ................................................. 6 基于 PC 的開放式運(yùn)動(dòng)控制器的發(fā)展趨勢(shì) ............................................. 7 課題來源及主要研究?jī)?nèi)容 ............................................................................... 8 第 2 章 伺服系統(tǒng)控制關(guān)鍵技術(shù)研究 ........................................................................ 9 運(yùn)動(dòng)系統(tǒng)的控制技術(shù)概述 ............................................................................... 9 伺服電機(jī)控制原理 ........................................................................................... 9 交流伺服電機(jī)介紹 .................................................................................... 9 交流伺服電機(jī)的控制模式 ...................................................................... 10 伺服電機(jī)的 PID 調(diào)節(jié)方案 ..................................................................... 11 參數(shù)曲線的時(shí)間分割插補(bǔ)算法 ..................................................................... 14 時(shí)間分割插補(bǔ)原理 .................................................................................. 14 參數(shù)曲線自適應(yīng)插補(bǔ)算法 ...................................................................... 14 NURBS 插補(bǔ)原理 ..............................................................