發(fā)布時間：2018-03-25 01:08

  本文選題：多機伺服驅(qū)動　切入點：SERCOS總線　出處：《浙江大學》2014年碩士論文

【摘要】：隨著工業(yè)設(shè)備的大型化和集成化發(fā)展,一個大型機器往往具有多達幾十個的伺服驅(qū)動器,這些伺服驅(qū)動器需要非常高的同步精度來保證整個系統(tǒng)正常運行。如果要往這類系統(tǒng)中添加第三方的傳動,就需要設(shè)計一個可以獲取原系統(tǒng)同步信息的控制器�；谶@種背景,本文以SERCOS總線為例,設(shè)計具有SERCOS接口的控制器,可以將第三方傳動添加到使用SERCOS總線的多軸伺服驅(qū)動系統(tǒng)中。同時,基于LabVIEW開發(fā)上位機軟件,實現(xiàn)對指定傳動的人機交互界面和管理檢測的功能,最后將該軟件移植到ARM平臺上。 本文首先調(diào)試了一套伺服系統(tǒng),研究空間矢量控制算法以及基于DSP實現(xiàn)該算法的軟件架構(gòu)。接著,文章對最新的SERCOS Ⅲ協(xié)議進行分析,了解它的物理層和數(shù)據(jù)鏈路層的結(jié)構(gòu)特征,并比較分析了SERCOS實際應(yīng)用的兩種同步機制。然后,基于SERCOS總線和以太網(wǎng)設(shè)計了從站伺服接口,包括兩種接口的硬件設(shè)計和軟件調(diào)試,重點介紹SERCOS接口的初始化過程和DSP控制板連入多機伺服系統(tǒng)實現(xiàn)同步的具體過程。最后,基于LabVIEW開發(fā)上位機軟件,實現(xiàn)對指定電機進行管理以及批量讀寫參數(shù)的功能,并將該軟件移植到ARM平臺手持式操作設(shè)備上。 利用SERCOS接口可以獲取大型報機系統(tǒng)中的虛擬主軸信息,為實現(xiàn)與虛擬主軸的同步運行提供有利條件,說明所設(shè)計的SERCOS總線接口電路可以適用于多機伺服驅(qū)動系統(tǒng)中。同時,開發(fā)的上位機軟件皆能實現(xiàn)對指定伺服電機的人機交互,表明上位機軟件設(shè)計合理有效。
[Abstract]:With the large-scale and integrated development of industrial equipment, a large machine often has servo drive up dozens of the servo driver requires synchronization accuracy is very high to ensure the normal operation of the whole system. If you want to add the third party to the transmission of this kind of system, it is needed to design a synchronous system can obtain the information of the original the controller. Based on this background, this paper uses SERCOS bus as an example, the controller design with SERCOS interface, can be added to the third drive multi axis servo drive system using SERCOS bus. At the same time, based on the LabVIEW development of PC software, realize the man-machine interface and the management of the specified drive detection function, finally the software is ported to the ARM platform.
Firstly, debugging a set of servo system, research of space vector control algorithm and realize the algorithm based on DSP software architecture. Then, based on SERCOS Protocol III latest analysis, understand the structural features of the physical layer and data link layer, and a comparative analysis of two kinds of synchronization mechanism and practical application of SERCOS., SERCOS bus and Ethernet is designed based on the slave servo interface, including hardware design and software debugging interface two, focuses on the initialization process of SERCOS interface and DSP control board connected to the multi machine servo system to realize the specific process of synchronization. Finally, LabVIEW development of PC based software, realize the function of management and batch to read and write the specified parameters of the motor, and the software is ported to the ARM platform for handheld operation equipment.
You can get the virtual axis machine in the large information system reported the use of SERCOS interface to provide favorable conditions for the realization of synchronous operation and virtual spindle, SERCOS bus interface circuit design can be applied to multi machine servo drive system. At the same time, PC software development can achieve the specified servo motor that human-computer interaction. The PC software design is reasonable and effective.

【學位授予單位】：浙江大學
【學位級別】：碩士
【學位授予年份】：2014
【分類號】：TP336;TP273

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本文編號：1660852