论文总字数：19645字

摘 要

本文主要介绍基于VC的高级运动控制系统编程技术开发工作。本文对X-Y二坐标系统的硬件架构进行了深入研究，包括外部接线和内部模块，阐述了硬件选型的理由，以及二坐标平台的科学工艺设计，概括了总体的伺服系统硬件设计。文中采用基于PCI总线的ADT850作为上位控制装置，实现基于Pc机的高级运动控制系统，并详细介研究了伺服系统的位置控制方式以及全闭环系统。

软件应用方面介绍了本课题所使用的控制软件NUT-servo各部分模块的功能实现。根据驱动器以及编码器的参数，计算出了电机的脉冲当量。基于VC的进行ADT850卡的二次开发，重点研究ADT850运动控制卡的插补原理，得出两轴直线插补的编程方案，还借助象限法实现了正向和反向的圆弧插补。文章最后补充了X-Y二坐标平台系统利用两个停止信号实现回零的编程案例。

关键词：运动控制卡 位置伺服系统 脉冲信号 MFC

Research on Programming Technology of Advanced Motion Control System Based on C Language

Abstract

This article mainly introduces the development of advanced motion control system programming technology based on VC. This paper makes an in-depth study of the hardware architecture of the X-Y coordinate system, including external wiring and internal modules, explains the reasons for hardware selection, and the scientific design of the two-coordinate platform, and summarizes the overall hardware design of the servo system. In this paper, the ADT850 based on PCI bus is used as the upper control device to realize the advanced motion control system based on the Pc machine. The position control method of the servo system and the full closed loop system are introduced in detail.

The software application aspect introduced the function realization of each part of the control software NUT-servo used in this topic. According to the parameters of the driver and the encoder, the pulse equivalent of the motor is calculated. The secondary development of the ADT850 card based on VC is focused on the interpolation principle of the ADT850 motion control card, and the programming scheme of the two-axis linear interpolation is obtained, and the forward and reverse circular interpolation is also realized by the quadrant method. Finally, the article supplements the programming case of zero-returning using the two stop signals of the X-Y coordinate system.

Key Words: Motion control card;Position servo system;Pulse signal;MFC

目 录

摘要…………………………………………………………………………………I

ABSTRACT………………………………………………………………………II

第一章 绪论………………………………………………………………………1

1.1 课题背景…………………………………………………………………1

1.2 国内外的伺服系统发展情况……………………………………………1

第二章 伺服系统的硬件设计…………………………………………………3

2.1 松下伺服电机及其驱动器………………………………………………4

2.2 增量式光电旋转编码器…………………………………………………4

2.3 X-Y二坐标控制平台设计………………………………………………5

2.4 ADT850运动控制卡……………………………………………………6

2.4.1 运动控制卡的基本简介…………………………………………6

2.4.2 运动控制卡的电气接线图………………………………………7

2.5 位置控制高级运动控制系统硬件设计…………………………………8

第三章 系统的软件开发与应用……………………………………………14

3.1 NUT-Servo软件应用……………………………………………………14

3.1.1 运行环境及驱动安装……………………………………………14

3.1.2 驱动器参数的设置………………………………………………14

3.1.3 运动控制软件各参数功能实现…………………………………17

3.1.4 图形加工操作……………………………………………………20

3.2 基于ADT850卡的VC开发………………………………………………21

3.3 ADT850卡连续插补程序…………………………………………………22

3.3.1 直线插补…………………………………………………………24

3.3.2 圆弧插补…………………………………………………………24

3.3.3 两轴直线插补的开发编程………………………………………25

3.4 X-Y平台回零操作的VC编程实例………………………………………26

第四章 总结展望………………………………………………………………29

参考文献…………………………………………………………………………30

致谢………………………………………………………………………………32

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