伺服运动控制器的研制设计论文_学位论文.doc

摘 要 随着科学技术的进步，传统的运动控制系统由于本身的特性限制难以满足现代工业的要求，研究和开发具有开放式结构的高性能运动控制器已成为当前运动控制领域的重要发展方向。 本论文以永磁交流同步伺服电动机为核心，对运动控制器的硬件结构进行了全面的改进，实现了运动控制单元和外围处理单元，研制了一种用常规芯片系列组成的运动控制器，提出了采用单稳态多谐振荡器和数据选择器的四倍频辨向电路。该系统硬件结构是基于普通PC机或工控机的ISA总线而开发，其功能集12位DAC转换、定时中断、脉冲接收、倍频辨向计数、零点检测及使能报警等于一体。该系统的软件结构通过对系统CMOS／实时时钟(RTC)编程实现高精度定时硬件中断， 对系统CMOS/实时时钟(RTC)编程实现高精度定时，在中断程序中加入PID控制算法，可以满足高精度的伺服电机位置控制的要求。 关键字：伺服系统 实时钟 PID控制 ABSTRACT With the progress of the technology, it is diffcult for the traditional Motion ControlSystem to satisfy the demands of the modern industry. Currently, it has been an important trendin the motion control field to develop the high-capability Motion Controller with the openstructure.Motion controller composed of general chip series is developed and Quadruple differential Circuit utilizing dual monostable multivibra-tors with Sehmitt trigger inputs and dual 4_line to 1_line data selectors or multiplexers is put forward.Hardware framework of the system is basedon ISA buses of general PC or IPC,including 12_bit multiplying D/A conversion,time interruptpulse receiving,zero check and on-off and warning circuit.Software framework is put forward based on the technical programming the CMOS/Real Timer Clock,adopting VtoolsD to programme VxD and real-time position control of servo electromotor is realized.So the key problem of developing NC in the Windows is solved.And,PID controller is designed,PID control arithmetic is programmed,parameters of control system are adjusted online，experiment is researched and the result is analyzed.Experimental result showed that programming CMOS／RTC,realizing high precision time through program VxD along with PID arithmetic in the interrupt can meet the requjre of high preci sion position control of servo electromotor. The paper firstly introduces the origin, research significance, related technical status and main contents of the task, and describes the system as a whole in detail, then dis