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-I-基于PCI和USB总线的开放式运动控制器开发摘要开放式数控系统已成为当今数控技术的发展方向，目前的开放式数控系统多以PC机为基础，配上各种开放式运动控制器。运动控制器的应用已走出机械加工行业，越来越多地应用于其它工业自动化设备控制，如机器人控制、电子机械、木工机械、纺织机械、印刷机械等诸多行业。基于PC总线的以DSP和CPLD/FPGA作为核心处理器的开放式运动控制器将PC机的信息处理能力和开放式的特点与运动控制器的运动轨迹控制能力有机地结合在一起，具有信息处理能力强、开放程度高、运动轨迹控制准确、通用性好等优点，因此发展迅速。今后基于计算机标准总线的开放式运动控制器仍然是市场发展的主流。PCI总线解决了ISA总线的响应速度较慢的瓶颈，近几年，基于USB总线的设备也因其优点而得以迅速发展。针对国内外开放式运动控制器存在的一些缺点，诸如国外产品价格太高、技术支持相对较差，国内产品不支持USB总线、存在一些技术上的不足等，本文以DSP芯片TMS320LF2407作为处理器，分别基于PCI和USB总线开发了多轴开放式运动控制器，并采用PCI9052和ISP-1581作为接口芯片构建PC-DSP通讯电路，利用CPLD器件EPM7128构建两路QEP信号处理电路并辅助完成译码等功能，同时开发了接口卡负责完成控制卡与外部器件的互联并进行光电隔离和电平转换。DSP除了完成与上位机的通讯，内部还嵌入了许多控制算法，包括基于前馈补偿的PID控制算法、参数曲线的自适应时间分割插补算法、直线/圆弧/NURBS插补算法等。同时，提供了丰富的动态链接库函数供用户调用，并在此基础上开发了测试软件。实验和仿真结果表明，系统设计合理，具有实时性好，跟随误差小，加工精确度高等优点。关键词开放式运动控制器；USB2.0协议；PCI总线；NURBS插补；DSP-II-DevelopmentofOpen-TypeMotionControllerBasedonPCIandUSBBusAbstractTheopen-typenumericalcontrolsystemhasbecomethedevelopmenttrendofNCtechnologynowadays,andthepresentNCsystemsaremainlybasedonPCs(personalcomputers)withvariousmotioncontrollers.Theapplicationofmotioncontrollershasextendedoutofthemachine-processingfield;moreandmoreareappliedincontrolofotherindustrialautomationdevices,suchasrobotcontrol,electronicmachinery,woodworkingmachinery,textilemachinery,printingmechanism,andsoon.Theopen-typemotioncontrollerhasdevelopedrapidly,whichusesDSPandCPLD/FPGAascoreprocessorsandcombinestheinformation-handlingcapacityandtheopen-typecharacteristicofPCwiththecontroller’smotionpathcontrolability,havingmanyadvantagessuchasstronginformation-handlingcapacity,goodopen-typecharacteristic,precisemotionpath,goodversatility.Fromnowon,thedevelopmentofopen-typemotioncontrollersbasedoncomputerstandardbusisstillthemarketmainstream.ThePCIbussolvestheproblemoflowresponsevelocityofISAbus,andinrecentyears,equipmentsbasedonUSBbushavealsodevelopedrapidlybecauseofthemeritsofUSB.Aimingattheshortcomingsofdomesticandforeignopen-typemotioncontrollers,forexample,theoverseasproductpriceishigh,thetechnicalsupportisrelativelyweak,andthedomesticproductdoesnotsupportUSBbus,existingsometechnicalflaws.thisthesisdevelopsmulti-axismotioncontrollersbasedonPCIbusandUSBbusrespectivelywithTMS320LF2407astheirprocessors.PCI9052andISP-1581chipsareadoptedtoconstructthePC-DSPcommunicationchannel;CPLDcomponentEMP7128isusedtoachievethefunctionsoftwogroupsofQEPsignalprocessingandaddressdecoding;atthesametime,theauxiliaryI/Ocardisalsodevelopedtoconnectthecontrollerandexternalcomponentsafterphoto-electricityisolationandleveltransformation.-III-BesidesthecommunicatingwithPCs,theDSPhasalsobeenembeddedmanycontrolalgorithms,includingthePIDcontrolalgorithmwithfeed-forwardcompensation,theparametercurveauto-adaptedtime-divisioninterpolationalgorithm,theline/circle/NURBSinterpolationalgorithm,etc.Alotofdynamiclinklibraryfunctionsarealsoprovidedfortheusers,andtestsoftwareisdevelopedwiththefunctions.Experimentandsimulationresultindicatesthatthesystemisdesignedreasonably,withmanyadvantagessuchasgoodreal-timeperformance,littlefollowingerrorandhighprocessingprecision.Keywordsopen-typemotioncontroller;USB2.0protocol;PCIbus;NURBSinterpolation;DSP-IV-目录摘要...............................................................................................................................IAbstract.......................................................................................................................II第1章绪论................................................................................................................11.1开放式运动控制技术概述...............................................................................11.1.1开放式数控系统........................................................................................11.1.2基于PC机的开放式运动控制器.............................................................21.2开放式运动控制器研究现状、不足及发展趋势...........................................41.2.1运动控制器的分类....................................................................................41.2.2国内外开放式运动控制器的研究现状....................................................51.2.3目前基于PC的运动控制器存在的不足.................................................61.2.4基于PC的开放式运动控制器的发展趋势.............................................71.3课题来源及主要研究内容...............................................................................8第2章伺服系统控制关键技术研究........................................................................92.1运动系统的控制技术概述...............................................................................92.2伺服电机控制原理...........................................................................................92.2.1交流伺服电机介绍....................................................................................92.2.2交流伺服电机的控制模式......................................................................102.2.3伺服电机的PID调节方案.....................................................................112.3参数曲线的时间分割插补算法.....................................................................142.3.1时间分割插补原理..................................................................................142.3.2参数曲线自适应插补算法................