【作者】 尤丽艳；

【导师】 殷苏民；

【作者基本信息】 江苏大学 ， 机械电子工程， 2002， 硕士

【摘要】 运动控制器是数控机床、机器人等一类机电一体化设备中常用的基础部件。由于目前存在的各种运动控制器开放性不够高,电路设计较复杂,可靠性较低,且运行速度和控制精度不高,所以性能价格比较低。为此,本课题设计了一种基于PCI总线、以TMS320C240数字信号处理器(DSP)和在系统可编程逻辑器件ISP为核心的运动控制器,其具有控制精度高、运算速度高、通用性强的特性,能够控制1～4轴的运动,应用于高精度控制系统中。本课题设计的运动控制器其硬件按功能可分为总线接口模块、信号处理模块、反馈信号处理模块、扩展I/O模块和数/模转换模块等。总线接口模块主要实现与主机的通讯;信号处理模块实现了具体的控制算法;反馈信号处理模块将增量编码器的反馈信号输出给信号处理模块,实现位置伺服控制;扩展I/O模块主要实现与伺服驱动器连接的I/O口的扩展;数/模转换模块将控制电机的数字信号转换成模拟信号。软件方面,提供了运动控制器的库函数。这些底层函数的提供,极大的方便了上层控制程序的编制,缩短了开发周期。更多还原

【Abstract】 Motion controller is a fundamental part of electric-mechanic equipments such as CNC machine tools, robots etc. At present, the open capability of various motion controllers is not high, the structure is complex, the reliability is low, and the run speed and the control precision is not high, so the ratio of capability and price is low. Therefore this project designs a motion controller based on PCI bus. The motion controller is by the core of digital signal processor (DSP) TMS320C240 and in-system programmable logic device (ISP). It can control the motion of 1 to 4 axes and can be used in the high-grade precision control system.The hardware of motion controller of this project is divided into bus interface module, signal process module, the feedback signal process module, expand I/O module, D/A transform module. The bus interface module is used to communicate to the host. The signal process module is employed to achieve the control arithmetic. The feedback signal process module receives the feedback signal from the increment encoder, and outputs to the signal process module, and achieves position servo-control. The expand I/O module is used to the spread of the I/O interface that connects with the servo driver. The D/A transform module is employed to transform the digital signal into the analog signal. The paper offers the functions of motion control of motor. The functions make it easy to work out superstratum control programs and shorten the development period.更多还原