级联式运动控制网络高精度同步策略  

High Accurate Synchronous Strategy for Cascaded Motion Control

作　　者：王宝仁[1] 曹金晓 李金松[1] WANG Bao - ren CAO Jin -xiao LI Jin-song(College of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao Shandong 266590, Chin)

机构地区：[1]山东科技大学机械电子工程学院,山东青岛266590

出　　处：《组合机床与自动化加工技术》2017年第5期114-117,122,共5页Modular Machine Tool & Automatic Manufacturing Technique

摘　　要：在级联式运动控制系统中,为了解决各运动轴不同步的问题,提出了高精度的多轴同步补偿策略。简单介绍了主控制器与伺服节点之间的通信过程,探究了通信延时的主要影响因素,并在FPGA硬件平台上设计了同步补偿定时器,然后根据节点间的通信延时情况配置定时器的补偿时间,以实现多轴运动同步启动的功能。最后通过硬件实验,搭建起五轴同步运动控制系统,验证了该同步补偿策略的有效性,且性能稳定,具有一定的实用价值。In a cascade motion control system,in order to solve the problem of non-synchronization of the motion axis,a multi-axis synchronous compensation strategy with high accuracy is proposed. The communication process between the master controller and the servo node is briefly introduced,the main factors affecting the communication delay are studied,and a synchronization compensation timer is designed on FPGA hardware platform,then,the compensation time of the timer is configured according to the communication delay situation between the nodes. it is used to realize synchronous start of multi-axis motion. Finally,fiveaxis synchronous motion control system is built by hardware experiment,The effectiveness of the synchronization compensation strategy is verified,and the performance is stable,which has certain practical value.

关 键 词：级联式运动控制系统 温度漂移 FPGA 多轴同步运动 

分 类 号：TH166[机械工程—机械制造及自动化] TG506[金属学及工艺—金属切削加工及机床]