本文選題：四軸 + 運(yùn)動(dòng)控制卡�。� 參考：《長春大學(xué)》2017年碩士論文

【摘要】：運(yùn)動(dòng)控制技術(shù)是機(jī)械電子技術(shù)的重要組成部分,研究運(yùn)動(dòng)控制技術(shù)對于實(shí)現(xiàn)我國的工業(yè)自動(dòng)化水平的提升具有非同一般的價(jià)值。因此,研究高精度、低成本的運(yùn)動(dòng)控制卡是我國實(shí)現(xiàn)中國智造所必然面臨的一個(gè)重大課題。為了開發(fā)性能優(yōu)良、成本較低的四軸運(yùn)動(dòng)控制卡,本文以STM32F407ZGT6作為主控芯片來進(jìn)行設(shè)計(jì)控制系統(tǒng)。本文設(shè)計(jì)的基于ARM運(yùn)動(dòng)控制卡主要研究內(nèi)容:根據(jù)運(yùn)動(dòng)控制卡的應(yīng)用需要,我們設(shè)計(jì)了控制卡與上位機(jī)通信電路、電源模塊、工業(yè)級通信模塊,編碼器模塊和電機(jī)控制模塊,以及外圍存儲(chǔ)模塊,增強(qiáng)了運(yùn)動(dòng)控制卡的實(shí)用功能。根據(jù)運(yùn)動(dòng)控制卡的總體設(shè)計(jì),我們完成相應(yīng)模塊部分的電路芯片選型和外圍電路設(shè)計(jì)。本文所設(shè)計(jì)的基于ARM的運(yùn)動(dòng)控制卡以移植的UCOSIII操作系統(tǒng)作為核心,增強(qiáng)了控制卡對電機(jī)的實(shí)時(shí)管理和控制。在工業(yè)級通信接口和外圍存儲(chǔ)器模塊軟件設(shè)計(jì)中我們有SPI、IIC、RS485以及CAN通信協(xié)議,提高了控制卡遠(yuǎn)程通信能力。運(yùn)動(dòng)控制卡算法研究。分析了梯形速度規(guī)劃算法和七段S曲線速度規(guī)劃算法的數(shù)學(xué)模型,指出了各自的局限性。在插補(bǔ)算法模塊中分析了逐點(diǎn)比較法的直線插補(bǔ)和圓弧插補(bǔ)。插補(bǔ)算法的MATLAB測試。在直線插補(bǔ)算法部分,我們把傳統(tǒng)的最小偏差法和Bresenham算法在算法設(shè)計(jì)原理和計(jì)算量方面做了詳細(xì)地比較,對最小偏差法的數(shù)據(jù)處理形式做了一些改進(jìn),解決了進(jìn)一步簡化比較算法的問題。本文取得的研究結(jié)果:實(shí)現(xiàn)了UCOSIII操作系統(tǒng)在ARM運(yùn)動(dòng)控制卡上的移植;改進(jìn)的最小偏差法比傳統(tǒng)的最小偏差法計(jì)算方式更簡單;我們提出以對角線三等分割的方式來研究基于逐點(diǎn)比較法的圓弧插補(bǔ)算法的改進(jìn)算法,在MATLAB仿真測試中插補(bǔ)誤差小于一個(gè)脈沖當(dāng)量,在半徑為7的圓弧上插補(bǔ)時(shí),其最大的誤差為0.2918個(gè)脈沖當(dāng)量,提高了基于ARM的運(yùn)動(dòng)控制卡的插補(bǔ)精度。
[Abstract]:Motion control technology is an important part of mechanical and electronic technology. It is of great value to study motion control technology to improve the level of industrial automation in China. Therefore, the research of high precision and low cost motion control card is an inevitable important subject in China. In order to develop a four-axis motion control card with good performance and low cost, STM32F407ZGT6 is used as the main control chip to design the control system in this paper. The main research contents of the motion control card based on ARM are as follows: according to the need of the application of the motion control card, we design the communication circuit between the control card and the host computer, the power module, the industrial communication module, the encoder module and the motor control module. And peripheral storage module, enhance the practical function of motion control card. According to the overall design of the motion control card, we complete the circuit chip selection and peripheral circuit design of the corresponding module. A motion control card based on ARM is designed in this paper, which uses the transplanted UCOSIII operating system as the core, and enhances the real-time management and control of the motor by the control card. In the software design of industrial communication interface and peripheral memory module, we have SPI IIC RS485 and CAN communication protocol, which improves the remote communication ability of the control card. Research on algorithm of Motion Control Card. The mathematical models of trapezoidal velocity planning algorithm and seven-segment S-curve speed planning algorithm are analyzed, and their limitations are pointed out. In the module of interpolation algorithm, the linear interpolation and arc interpolation of point by point comparison method are analyzed. MATLAB test of interpolation algorithm. In the part of linear interpolation algorithm, we compare the traditional minimum deviation method and Bresenham algorithm in detail in the design principle and calculation of the algorithm, and make some improvements to the data processing form of the minimum deviation method. The problem of further simplification of comparison algorithm is solved. The research results obtained in this paper are as follows: the UCOSIII operating system is transplanted on the ARM motion control card, the improved minimum deviation method is simpler than the traditional minimum deviation method. We propose an improved algorithm for arc interpolation based on point by point comparison by diagonal triple-division. In the MATLAB simulation test, the interpolation error is less than one pulse equivalent, and the interpolation time is on the arc with radius 7. The maximum error is 0.2918 pulse equivalent, which improves the interpolation accuracy of motion control card based on ARM.
【學(xué)位授予單位】：長春大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP273

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