外文翻譯--運動控制器pmac在交流伺服數控系統中的應用

1、<p>　　中文2785字,1730單詞</p><p><b>　　外文文獻原文</b></p><p>　　Motion Controller and the Application of PMAC in AC Servo CNC System</p><p>　　Xi CHEN1 Yanbo CHE 1 K.W.E C

2、HENG2</p><p>　　1 School of Electrical Engineering & Automation, Tianjin University, Tianjin China.</p><p>　　E-mail: ybche@tju.edu.cn</p><p>　　2 Department of Electrical Engineer

3、ing, The Hong Kong Polytechnic University, Hong Kong,</p><p>　　E-mail: eeecheng@polyu.edu.hk</p><p>　　Abstract –The concept and sorts of motion controller were introduced in this paper, the feat

4、ures of PMAC motion controller was explained, and the make-up of the numerical control system based on MINI-PMAC, PC and AC Servo Driver was discussed in detail including hardware structure and software designing. Then a

5、 development example of experiment was shown. Servo compute and control in the CNC system are both performed by PMAC,while PC and other general interfaces act as terminals, this structure </p><p>　　I. INTROD

6、UCTION</p><p>　　A typical motion control system mainly consists of superior computer, motion controller, power driving device, motor, feedback detecting sensor and controlled object, as shown in Fig. 1.Motio

7、n controller is the centre of the control system and it takes the central logic control unit as the core, takes the sensor as the component sensitive to feedback signal and takes the motor as the controlled object. The m

8、ain task of the motion controller is to perform necessary logic and mathematical operatio</p><p>　　II. CLASSIFICATION OF MOTION CONTROLLER</p><p>　　Motion controllers can be classifed in differe

9、nt ways.According to the structure, motion controllers can be divided into three forms:</p><p>　　A. Computer standard bus based Motion controller</p><p>　　This kind of motion controller has open

10、 architecture and is independent from computer.It could combine with computer by many different bus such as ISA interface, PCI interface, VME interface, RS232 interface and USB interface. Most of these motion controllers

11、 use DSP or microprocessor chip as CPU and could perform functions including motion planning, high-speed and real-time interpolation, servo filter control, servo drive and standardized general interface to external I/O.

12、They also provides po</p><p>　　The motion controller and PC make up a master-slave control structure: PC is responsible for managing human-computer interface and monitoring the operating state of the control

13、 system in real time, and the motion controller completes all the details of the motion control task such as producing pulse and direction signals, calculating the trace, detecting home and limit signals. The advantage o

14、f such a structure is combining PC’s ability to process information and motion controller’s ability to c</p><p>　　B. Software based open motion controller</p><p>　　Software based open motion con

15、troller provides users with a great deal of flexibility.The motion control softwares are all installed in the computer, and the hardware only provides standardized general interfaces to computer,to servo drivers and exte

16、rnal I/O,as computer could be installed with various sound cards, CDROM and corresponding drivers. With the support of Windows and other operating systems, users can obtain desired control functions and develop various h

17、igh-performance motion control</p><p>　　C. Embedded motion controller</p><p>　　This is a motion controller in which a computer embedded and it could operate independently. This motion controller

18、 also communicate with computer through computer bus. It is a variation of the bus based motion controller in essence.In the application it connects to a superior computer or a control panel through field communication i

19、nterface such</p><p>　　as Industrial Ethernet, RS485, SERCOS and Profibus. In addition,embedded motion controller can be provided with floppy and hard disk drivers,even get remote diagnosis through the Inter

20、net, such as Smart-Controller from American ADEPT company, GU embedded motion control platform series products from Googol Technology( Shenzhen ) Ltd..</p><p>　　III. HARDWARE STRUCTURE OF CNC SYSTEM</p>

21、;<p>　　The CNC system consists of superior computer,Programmable Multiple Axes Controller MINI-PMAC,adapter plate, servo drivers and AC servo motorlt in hardware. It could perform various motion control functions

22、by using superior and inferior softwares. Fig. 2 shows the structure of the system. MINI-PMAC, adapter plate and drivers are all assembled in a cabinet, so the system could work offline.</p><p><b>　　A.

23、 PMAC</b></p><p>　　PMAC from Deltatau company is a multi-axes,multi-channel, open motion controller. It is based on industrial computer and could control up to 8 axes simultaneously. It uses high-perfo

24、rmance digital signal processor DSP5600X produced by Motorola as the CPU and could combine with various computers, amplifiers,motors and sensors to perform different functions.</p><p>　　PMAC is a complete co

25、mputer in its own competence. It could process stored program independently of the operating system and could define task priority, working like a realtime multitasking computer.Even if PMAC is controlled by a host compu

26、ter, their communication is between two computers, rather than communication between a computer and peripheral. From the processing time and the complexity of the task switching, PMAC’s ability to process multiple tasks

27、simultaneity (according to the priority</p><p>　　There are two PMAC familis : PMAC1 and PMAC2. Each can be divided into four hardware forms PMAC-PC,PMAC-STD, PMAC-LITE, PMAC-VME according to communication bu

28、s. MINI-PMAC used here is PMAC-PC form of PMAC1 which can control two axes simultaneously. It has ISA bus or RS-232/422 communication port for bus communication or serial communication. MINI-PMAC mainly contains the foll

29、owing interfaces:</p><p>　　? Jl (JDISP): display interface, l4 pins, used to connect a simple LCD screen to display the location and speed of shafts.</p><p>　　? J3 (JTHW): multi-way DIP switch,

30、26 pins, to provide 8-in and 8-out general I/O in TTL level, used to expand input and output points or used as general I/O directly.</p><p>　　? J4 (JRS232): serial communication port, l0 pins, to provide ser

31、ial communication interface RS232 to the host coputer.</p><p>　　? J5 (JOPTO): general digital input and output port, 34 pins, to provide 8-in and 8-out general I/O in TTL level.</p><p>　　? J7 (J

32、S1): l6 pins, to provide interface to A/D conversion attachment ACC-28.</p><p>　　? J8 (JAUX): auxiliary interface, l6 pins, to receive 0-10V analog input, pulse direction output, location comparing signal an

33、d so on.</p><p>　　? Jl1 (JMACH): main working interface, 60 pins,including the control signal output, servo enable signal output, home limit and servo alarm signals input, encoder feedback signal input and p

34、ower interface.</p><p>　　? TB1: interface to external power,to supply power for motion controller when MINI-PMAC is used alone</p><p>　　B. Servo system</p><p>　　J11 interface of PMA

35、C connects to servo drivers through adapter plate. Driver MS-DA023A1A applies to MSM small inertia motor and uses 200V three-phase AC voltage.The speed analog output of PMAC connects with AC servo drivers who drive AC se

36、rvo motors. Encoder was installed on the motor to detect the feedback.</p><p>　　The performance of servo system could be regulated by adjusting PID adjuster on the PMAC,the speed feedforward, the acceleratio

37、n feedforward. If the the proportional coefficient is greater, the rigidity of the system will be better.However there will be greater error caused by over reaction if the proportional coefficient is too great,even wores

38、 the motor may run in open loop.Adjusting integral coefficient can eliminate the steady-state error in the system. Adjusting differential coefficient pro</p><p>　　When regulating performance of the servo sys

39、tem,adjust the AC servo drivers’ parameters first. After the motion of the AC servo motor meets some requirements, adjust PID parameters on PMAC to achieve the best performance.</p><p>　　The schematic diagra

40、m of the entire system is shown in Fig. 3. As shown, J4 is communication interface to computer, J5 is general digital port for 8 switched inputs and 8 TTL level outputs, namely, panel switch inputs and diode outputs, and

41、 Jl1 includes four parts: (1) control of AC servo driver X, (2) control of AC servo driver Y, (3) hand wheel input, and (4) limit and home input. DAC1 provides speed analog signal for drivers and CHA1——CHC1 receive the f

42、eedback of encoder on servo motor.</p><p>　　IV. WARE DESIGN AND RELIZTION</p><p>　　A. Introduction of PEWIN</p><p>　　PEWIN is the development tool produced by Deltatau to establish

43、and manage application system for PMAC.It provides a friendly PMAC-oriented serial port terminal interface and a text editor uesd for writing motion program and PLC program. In addition, PEWIN provides a series of interf

44、aces for PMAC configuration and monitor,including motor driving interface, variable setting interface, coordinates setting interface, windows for observation of PMAC variables and state registers, etc.</p><p&g

45、t;　　PEWIN takes full advantage of the Windows operating environment:</p><p>　　? Text editor's function: cut, copy and paste;</p><p>　　? A good graphical interface to communicate with and ope

46、rate PMAC;</p><p>　　? Dealing with thousands of I, P, Q and M variables of PMAC flexibly;</p><p>　　? A window to display motor state,coordinates and the overall state in real time;</p>&l

47、t;p>　　? A window to display the location, speed and fault of all the motors in the system;</p><p>　　? A variety of ways to adjust the PMAC system;</p><p>　　? A interface for data collection a

48、nd mapping;</p><p>　　? Deagnostic program to identify and remove faults of motors and drivers;</p><p>　　? Displaying the real time status of PMAC interfaces;</p><p>　　? Coping Varia

49、bles between different motors;</p><p>　　B. Initialization of the system</p><p>　　Fig. 4 shows software structure of the CNC system. Start up the PEWIN program first, power on the whole CNC syste

50、m, establish the communication with PC, enter the main menu interface, and then complete pointing control and other operation.After entering the menu and command window, users can query the information and set parameters

51、 according to their own needs to initialize the PMAC.</p><p>　　VI. CONCLUSION</p><p>　　This paper designs a PMAC-based open CNC system. The system has advantage of short development cycle, low c

52、ost,more interpolation axes and high control accuracy.PMAC is the core of the CNC system and completes all the servo computation and control. PC and other general interfaces are terminals of the entire system. This open

53、architecture offers more flexibility and can be used in a wide range of applications.</p><p><b>　　譯文</b></p><p>　　運動控制器PMAC在交流伺服數控系統中的應用</p><p>　　徐旭1，車延博1，K.W.E CHENG2&l

54、t;/p><p>　　1天津大學，電氣與自動化工程學院，E-mail: ybche@tju.edu.cn</p><p>　　2香港理工大學，電氣工程學院，E-mail: eeecheng@polyu.edu.hk</p><p>　　摘要：本文對運動控制器的概念和類型的進行了綜述，闡述了PMAC運動控制器的特點和基于MINI-PMAC數控系統的組成。討論了PC和交流伺

55、服驅動程序,包括硬件結構和軟件設計。數控系統中的伺服計算和控制都是由PMAC完成，PC機和其他通用接口作為終端，這種結構提供了更多的靈活性,可以被用在廣泛的應用范圍。</p><p><b>　　1 簡介</b></p><p>　　一個典型的運動控制系統主要由上位機、運動控制器，電力傳動裝置、電機、反饋檢測傳感器和控制對象，見圖1.運動控制器是控制系統的核心，它采

56、用的是以中央邏輯控制單元為核心，用組件敏感傳感器反饋信號，以電機為控制對象。運動控制器的主要作用是執(zhí)行必要的邏輯和數學運算，根據傳感器的信號和需要控制的任務，提供適當的控制信號驅動裝置。</p><p>　　2 運動控制器的分類</p><p>　　運動控制器的分類有很多，根據運動控制器的結構可以分為三種形式：</p><p>　　2.1 以計算機標準總線為基礎

57、的運動控制器</p><p>　　這種運動控制器的開放式體系結構獨立于電腦，它可以通過很多不同的總線與計算機連接，如ISA接口、PCI接口、VME接口、RS232接口和USB接口。大多數的運動控制器使用DSP芯片作為CPU或微處理器，可執(zhí)行的功能包括運動規(guī)劃、高速實時插補、伺服過濾器控制、伺服驅動和標準化的通用接口、外部I/O。它們還提供強大的運動控制軟件庫，比如C語言運動函數庫、WINDOWS DLL動態(tài)連接庫

58、，因此用戶可以通過DOS或WINDOWS開發(fā)自己的應用軟件和根據自己的需要創(chuàng)建各種運動控制系統。由美國Deltatau公司生產的可編程控制器PMAC是這種運動里一個具有代表性的產品。類似的產品包括英國Allword公司的TRIO，Googol科技（深圳）有限公司的GT系列，和美國NI公司的NI系列等等。</p><p>　　運動控制器和PC機構成一種主從控制結構：PC負責管理人機界面和監(jiān)控運動狀態(tài)實時控制系統，和

59、運動控制器所應完成的運動控制任務，例如產生脈沖信號、計算跟蹤、限制信號和檢測信號是否回歸。這種結構的優(yōu)點是結合了電腦處理信息的能力和運動控制器來控制移動跟蹤的能力。數控系統采用開放式架構基于運動控制器廣泛應用于自動化生產行業(yè)。本文介紹了PMAC的性能特點，設計了一個以PMAC為基礎的數控系統，并給出開發(fā)實例。</p><p>　　2.2 基于軟件開放式運動控制器</p><p>　　基于

60、軟件開放式運動控制器為用戶提供了很大的靈活性。運動控制軟件都安裝在電腦里，硬件只需提供標準化的通用接口、計算機、伺服驅動和外部I/O，電腦可以安裝各種音效卡，CDROM和相應的驅動程序。在WINDOWS和其他操作系統的支持下，用戶可以獲得所需的控制功能和發(fā)展各種高性能運動控制系統。所以這個運動控制器為的用戶提供了更多的選擇和靈活性。</p><p>　　2.3 嵌入式運動控制器</p><p

61、>　　這是一種由電腦嵌入并可以獨立運行的運動控制器。這種運動控制器也是通過計算機總線實現與計算機的交流。它在本質上是以變化的總線為基礎的運動控制器。在應用程序連接到上位機或控制面板通過通信接口,如工業(yè)以太網,RS485總線, SERCOS總線和現場總線。此外,嵌入式運動控制器可以提供與軟盤和硬盤驅動,甚至通過互聯網獲得遠程診斷,如從美國公司Smart-Controller內行,顧長衛(wèi)嵌入式運動控制平臺系列產品從Googol科技(深

62、圳)有限公司等等。</p><p>　　3 數控系統的硬件結構</p><p>　　數控系統在硬件包括上位機、可編程控制器多個軸MINI-PMAC、適配器板、伺服驅動和交流伺服motorlt。它可以通過軟件的優(yōu)劣勢執(zhí)行各種運動控制功能。圖2顯示了該系統的結構。MINI-PMAC,適配器板和驅動都組裝好了，所以這個系統可以離線工作。</p><p><b>

63、;　　3.1 PMAC</b></p><p>　　Deltatau PMAC公司的PMAC是一個多軸多通道的、開放式的運動控制器。它基于工控機可以同時控制到8軸。它用摩托羅拉生產的高性能數字信號處理器DSP5600X作為 CPU并結合各種計算機、放大器、汽車和傳感器來執(zhí)行不同的功能。PMAC在自身能力里已經是一個完整的計算機。它可以處理已存儲程序獨立于操作系統，可以定義任務優(yōu)先級，像一個實時多任務

64、的計算機一樣工作。即使PMAC受控于一個主機，他們的交流是兩臺計算機之間，而不是計算機及其外圍之間的通信。從處理時間和任務切換的復雜性,PMAC有能力同時處理多個任務(根據優(yōu)先級)減少了計算機的負擔。</p><p>　　有兩個PMAC家族:PMAC1和PMAC2。根據通信總線每個又可分為四個硬件PMAC-PC,PMAC-STD,PMAC-LITE,PMAC-VME。這里采用的MINI-PMAC 是以能同時控制兩

65、個軸的PMAC1構成的PMAC-PC。它用ISA總線或RS-232/422通信端口總線通信或串行通信。</p><p>　　MINI-PMAC主要包含以下接口：</p><p>　　? J1（JDISP)：顯示界面，l4管腳，用來連接一個簡單的液晶屏顯示和速度軸。</p><p>　　? J3(JTHW)：多向DIP開關，26個管腳，以用TTL構成的通用I / O來

66、提供8個輸入和8輸,用于擴大輸入和輸出點或直接用作通用I / O。</p><p>　　? J4 (JRS232)：串行通信端口，10管腳，向主機提供串行通信接口RS232。</p><p>　　? J5 (JOPTO)：普通數碼輸入和輸出端口，34個管腳，以用TTL構成的通用I / O來提供8個輸入和8輸。</p><p>　　? J7 (JS1)：16個管腳，以

67、提供連接ACC-28和A / D轉換器的接口。</p><p>　　? J8 (JAUX)：輔助接口，16個管腳，接收0-10V模擬輸入、脈沖方向輸出、位置比較信號等。</p><p>　　? Jl1 (JMACH)：主要的工作界面，60個管腳，包括控制信號輸出，伺服使能信號輸出，自身限制和伺服報警信號輸入，編碼器反饋信號輸入和電源接口。</p><p>　　? T

68、B1：接口，外部電源，為運動控制器MINI-PMAC單獨使用時提供電力</p><p><b>　　3.2 伺服系統</b></p><p>　　PMAC上的J11接口通過適配器板連接到伺服驅動器。驅動器MS-DA023A1A適用于MSM小型慣性電機并使用200伏三相交流電壓。PMAC模擬輸出的速度連接交流伺服驅動。編碼器安裝在電機上用于檢測反饋。</p>

69、;<p>　　伺服系統的性能可以通過調節(jié)PMAC上的PID調節(jié)器、速度前饋控制、前饋的加速度。如果增大比例系數，則系統的硬度更硬。然而，過度的反應將引發(fā)更大的錯誤，如果比例系數更大，馬達甚至可能運行在開環(huán)。調整積分系數可以消除系統的穩(wěn)態(tài)誤差。系統需要保持穩(wěn)定時調整微分提供阻尼。調整速度前饋是為了減少由與速度成正比的阻尼引起的以下錯誤。調節(jié)前饋加速的作用是減少或消除由與加速度成正比的系統慣性造成的誤差。</p>

70、<p>　　當調節(jié)伺服系統的性能時，首先要調節(jié)交流伺服驅動的參數。調整后的交流伺服電機滿足了一定要求，調整PMAC上的PID參數來實現系統的最佳性能。</p><p>　　整個系統的原理圖如圖3所示，J4是計算機的通行接口，J5是普通數碼端口用于8個轉換輸入和8個TTL輸出，也就是說，是面板開關和二極管的輸入輸出；J1包括四部分：（1）對交流伺服驅動X的控制，（2）對交流伺服驅動器Y的控制，（3）手寫

71、輸入，和（4）限制和自身的輸出。DAC1為驅動提供速度模擬信號，而CHA1~CHC1接收伺服電機的編碼器反饋。</p><p>　　4 產品設計和實現</p><p>　　4.1 PEWIN的簡介</p><p>　　PEWIN是由Deltatau產生的開發(fā)工具來建立和管理PMAC的應用系統。它提供了一個友好的PMAC-oriented串口終端接口和一個文本編輯

72、器來編寫運動程序和PLC程序。此外，它還提供了一系列PEWIN接口用于PMAC的配置和監(jiān)視，包括電機驅動接口，變量設置界面，坐標設置界面，觀察PMAC的變量和狀態(tài)寄存器的窗口，等等。</p><p>　　PEWIN充分利用Windows操作環(huán)境：</p><p>　　?文本編輯器的功能：剪切、復制和粘貼功能;</p><p>　　?一個好的通信和運營PMAC的圖形界

73、面；</p><p>　　?靈活處理PMAC里數量眾多的I,P,Q,M變量；</p><p>　　?一個用來顯示運動狀態(tài)，坐標和實時整體狀態(tài)的窗口；</p><p>　　?一個用來顯示位置、速度和系統中所有電機故障的窗口；</p><p>　　?靈活多變的方式來調整PMAC系統；</p><p>　　?一個用于數據收集

74、和映射的接口</p><p>　　?診斷程序來識別和移除電機、驅動的故障；</p><p>　　?顯示實時狀態(tài)的PMAC接口；</p><p>　　?對應不同變量與不同的電機；</p><p>　　4.2 系統的初始化</p><p>　　圖4顯示了數控系統的軟件結構。首先啟動PEWIN程序，整個數控系統上電，建立于

75、PC機間的通信，進入主菜單界面，然后完成指向控制和其他操作。進入菜單和命令窗口，用戶可以根據自己的需要查詢和設置參數信息初始化PMAC。</p><p><b>　　5 總結</b></p><p>　　文中設計了一種基于PMAC的開放式數控系統。該系統的優(yōu)勢在于開發(fā)周期短、成本低、更多的插值軸和控制精度高。PMAC是數控系統和完成所有伺服計算和控制的核心。PC機和