通用运动控制技术的现状与发展

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1DSPDSPFPGADSP(Servomechanism)“”(Servo)1873JeanJosephLeonFarcotLeServo-MotoronMoteurAsserviFarcotH.Hazen19349FranklinInstitute19321940G.S.BrownMIT(ServomechanismsLaboratory)MITServomechanismsLaboratoryG.S.Brown(1952)APT(1952-1969)1958Kearney&TreckerNCFRAICENC1961G.DevolG.T.EngelebergerUnimation1968KawasakiUnimationYaskawa(Yaskawa)Mechatronics()(1972)1973FMS(FlexibleManufacturingSystem)CIMSFA(FactoryAutomation)(1975)MaskAlignmentWireBondingDieBondingTrimForming1987NGC(OSACA)1996NGC[3]EMCOMACOMACAPT22090DSPCPUPLCDOSWINDOWSDeltatauPMACGT/GHSoftI/OCDROMWINDOWSSoftMDSIOpenCNCPAPowerAutomationPA8000NTSoftSERVOGOSoftRS485SERCOSPROFIBUSInternetADEPTSmartControllerGU19994PCDOSPASoftPA32080ASICLookaheadPCDSPFPGADSPPCPCPC+PCDSPFPGAFPGAGOGTGHGUDSP150GOGTGHPCGUGHGTGO(1)S(2)(3)a/bcd/DSPFPGA4DSPFPGAGTPIDPIDPID(PID)PIDPIDPIDPID10()()()()tpIDdetmtKetKetdtKdt=++∫KpKIKDe(t)m(t)PID(1)(2)(3)InternalModelControl(4)KpIKdt∫ddKdt+++e(t)m(t)5ISAPCIPC(1)PC(2)PC(3)(4)(1)(2)PCPCPCPC(3)PCPCPCPC1..2.3P.K.Wright.Openarchitecturemanufacturing:Theimpactofopencomputersystemsonselfsustainingmachineryandthemachinetoolindustry.InProceedingoftheManufacturingInternational’90-Part2:AdvancesinManufacturingSystems,Atlanta,GA.Mar.1990:41~474NArdaErol,YusufAltintas,MaboRobertIto.Opensystemarchitecturemodualartoolkitformotionandmachiningprocesscontrol.ASMETransactionsOnMechatronics,2000,5(3)281~2915.[2003

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