级联式多轴运动控制系统及其同步策略  

Cascaded multi-axis motion control system and its synchronization strategies

作　　者：王宝仁[1] 王婕[2] 韩文强[1] 武洪恩[1] 

机构地区：[1]山东科技大学机械电子工程学院,山东青岛266590 [2]济南职业学院机电系,山东济南250001

出　　处：《计算机集成制造系统》2017年第11期2467-2474,共8页Computer Integrated Manufacturing Systems

摘　　要：为了实现普通数字脉冲接口的伺服驱动器网络化控制,提出一种级联式运动控制方案,采用三端口转换器实现网络节点的级联,并提供伺服装置所需的控制和反馈接口。此外,为了提高系统的同步运动精度,提出一种新的同步补偿策略,通过在三端口转换器内设计时间补偿定时器,克服了网络延时对多轴同步运动的不良影响。实验表明,以工业塑料光纤为传输介质,信号每经过级联网络的一个节点增加约120ns的时间延迟,而采用上述同步策略后,伺服节点之间运动同步脉冲的时间抖动减小到25ns之内。To realize the networking control for servo drivers with common pulse interface,a cascaded multi-axis motion control scheme was presented.In the scheme,3-port convertors were applied to perform the cascaded network connection and provide the control and feedback interface for servo drive equipments.To improve the motion synchronization accuracy of all actuators,a new multi-axis motion synchronization strategy for this cascaded motion control systems was put forward.By designing a compensation timer in 3-port convertor,the strategy overcame the harmful effects of network time delay on multi-axis motion synchronization.Network transmission experiments with industrial plastic optical fiber showed that signs added 120 ns time delay when it passed through one network node.But if the synchronization strategy was employed,time jitter of motion sync pulses among all the servo nodes was reduced to less than 25 ns.

关 键 词：运动控制系统 网络控制 网络延时 多轴运动同步 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]