【作者】 安姣；

【导师】 胡协和；

【作者基本信息】 浙江大学 ， 检测技术与自动化装置， 2008， 硕士

【摘要】 交流伺服驱动器(又称“伺服系统”)是数控系统中的核心部件。驱动器技术已由最初的模拟量、脉冲序列,发展到最近的全数字。数字式驱动器以其能提供更高的控制精度、达到更快的响应速度,还能够实现更复杂的控制算法,提供参数调整能力和系统的诊断等优势成为今后发展的趋势。本文设计了一款基于工业以太网EPA(Ethernet for Plant Automation)标准的全数字交流伺服驱动器,并从以下几个方面进行研究:1、在对课题的研究背景进行了全面综述的基础上,分析了模拟伺服系统和全数字交流伺服系统的优缺点,并对交流伺服驱动器接口技术的发展趋势作了论述;2、详细介绍了SERCOS、ETHERNET PowerLink、EtherCAT三种适合于数控系统的总线技术,对其工作原理和通信性能进行了分析;3、对EPA通信协议作了比较全面的介绍,着重对其确定性调度机制和高精度时间同步进行了分析研究;4、以浙江中控电气技术有限公司的SUP-D模拟交流伺服驱动器为蓝本,设计并开发了基于EPA技术的全数字交流伺服驱动器。该驱动器由TMS320LF2407为主控制器,采用EPA专用芯片实现EPA协议栈,提高网络通讯的实时性、同步精度,采用AX88796网卡芯片进行网络数据的收发;5、在基于EPA的多轴运动数控系统实验平台上进行实验,验证了全数字交流伺服系统的可靠性能。更多还原

【Abstract】 AC servo drivers("AC servo system") are widely used in CNC (Computerized Numerical Control) systems. The performance of the servo system seriously influences the whole CNC system. Recently, full-digital servo system is developing in a fast speed. Full-digital system has the merit of high accuracy, fast response, permitting more complicated algorithms and parameters adjusting, and so on. In this thesis, a full-digital system based on EPA is introduced:First, full-digital servo system’s back ground, merits and shortcomings compared to analog servo system are introduced. The advantages and shortcomings of the three kinds of interface techniques are presented in detail.Second, the mechanism and the communication protocols of SERCOS, ETHERNET PowerLink, EtherCAT are also described in detail , as three kinds of popular CNC buses, with emphasis on their definite communicating dispatch and accurate synchronizing capabilitiy, which guarantee the CNC use.Third, EPA (Ethernet for Plant Automation) protocol is introduced with emphasis on its definite communicating dispatch and its accurate synchronizing method.Fourth, based on the analog servo system SUP-D of Zhejiang Supcon Electric Co,.ltd, a Ethernet interface is designed to connect the servo driver and the Ethernet, using TMS320LF2407 as processor, AX88796 as network card and ESP to implement the EPA protocol.Fifth, a experiment is designed on CNC system based on EPA . The experiment result proves that the system can perform well in network environment.更多还原