臺灣博碩士論文加值系統

在目前之產業機械，為了提升產品之可靠度、增加產能，使用伺服系統應用在產業機械控制已經是越來越普遍。在功能價格比較上，由於產品漸漸趨向中低價位，不再像以前一樣高不可攀，在一般之中小型軸控機械，通常都會採用小型之系統設計(PLC+Servo Drive)，不僅整體設備之開發成本能夠降低之外，功能需求也可以顯著提升。此專用數控系統將整合國產伺服驅動器，在原有P command位置伺服控制訊號模式上，將開發出V command速度伺服控制訊號模式，此系統大幅提高運動速度。
我們將研究開發圖形化、專用化、友善之CAM應用軟體及操作介面，研究並設計實現將DXF檔案轉NC碼，以及壓力與溫度感測器之線路設計，並整合數控系統於同一X、Y工作平台運作，讓使用者可以輕易地在機台上編輯、產生並執行NC程式，以達到前所未有之性能與操作便利性，大幅提升商品價值。
開發出V command速度伺服控制器後，我們想了解控制器之動態循跡誤差問題，此誤差實際上是由平台中各軸同時之運動行為所構成。控制器必需在各種不同要求之輪廓形狀下，皆可有效地壓制系統命令軌跡與實際循跡形狀之間的幾何誤差。

It is becoming common practice to employ servo system in industrial machine control, which aims at increasing the reliability and productivity of products. As for the system cost, current products are not as expensive as those in the past, and they tend to be in the middle-low price bracket. As for functionality, general small and medium-sized axis motion control systems usually adopt PLC+Servo Drive configuration. This not only decreases the cost of developing equipment but also obviously increases the functionality. The proposed dedicated numerical control integrates local servo drive and CNC. Besides the mode of P command position servo-control signal, we also developed the mode of V command velocity servo-control signal, so that the system can run faster.
The purpose of this study is to develop a CAM application software with dedicated graphical and user-friendly interface. This software realizes the function of converting DXF files into NC codes. Besides, the electronic circuit design of pressure and temperature sensor was also completed. Moreover, by integrating digital control system and our software into the same X-Y working panel, users can easily edit, design, and implement NC programs within the machine. This not only maximizes functionality of the machine, but also increases convenience of operation; at the same time, product value is also increased.
After V command velocity servo-controller was developed, the dynamic contour error of controller was explored. It was found that the error resulted from simultaneous motor movement of all axes has interesting behavior. Besides, no matter what contour shape was defined, the controller can effectively suppress the geometric error between the command contour in the system and the practical tracking shapes.
Keyword：contour error , tracking error , PC104 Motion Controller , Digital Servo Drive , System Identification

目錄

中文摘要 i
英文摘要 ii
誌謝 iii
目錄 iv
表目錄 vii
圖目錄 viii
符號說明 xi
第一章 序論-------------------------------------------------------------- 1
1.1 研究動機與目的----------------------------------------------- 1
1.2 研究背景-------------------------------------------------------- 2
1.3 文獻回顧-------------------------------------------------------- 3
1.4 論文架構-------------------------------------------------------- 5
第二章 產業機械專用運動控制器------------------------------------ 6
2.1 X、Y平台控制架構------------------------------------------- 6
2.1.1 伺服驅動系統-------------------------------------------------- 7
2.1.2 平台架構-------------------------------------------------------- 8
2.1.3 伺服運動控制卡----------------------------------------------- 8
2.2 追隨誤差分析-------------------------------------------------- 9
2.3 循跡誤差分析-------------------------------------------------- 12
2.3.1 直線路徑之循跡誤差分析------------------------------------ 13
2.3.2 圓形路徑之循跡誤差分析------------------------------------ 15
2.4 P command與V command------------------------------------ 16
2.4.1 P command位置控制模式------------------------------------ 17
2.4.2 V command速度控制模式------------------------------------ 17
第三章 感測器特性分析與轉換電路之設計------------------------ 19
3.1 溫度感測器原理----------------------------------------------- 20
3.2 壓力感測器原理----------------------------------------------- 22
3.3 轉換電路設計-------------------------------------------------- 24
3.3.1 惠斯頓電橋----------------------------------------------------- 24
3.3.2 電阻電路-------------------------------------------------------- 26
3.3.3 DC-DC Converter---------------------------------------------- 27
第四章 串列式ADC與DAC系統設計------------------------------ 28
4.1 串列式晶片通訊----------------------------------------------- 28
4.1.1 DAC原理------------------------------------------------------- 29
4.1.2 ADC原理------------------------------------------------------- 31
4.2 ADC與ADC電路設計--------------------------------------- 32
4.2.1 DAC設計------------------------------------------------------- 33
4.2.2 ADC設計------------------------------------------------------- 34
4.3 時序設計-------------------------------------------------------- 34
4.3.1 DAC7554時序設計-------------------------------------------- 34
4.3.2 ADS7861時序設計-------------------------------------------- 35
4.4 轉換器測試----------------------------------------------------- 36
4.4.1 ADC測試------------------------------------------------------- 36
4.4.2 DAC測試------------------------------------------------------- 37
第五章 NC程式自動轉換模組---------------------------------------- 39
5.1 DXF轉檔流程-------------------------------------------------- 39
5.2 NC程式自動轉換模組功能說明---------------------------- 41
5.2.1 初始化函式----------------------------------------------------- 41
5.2.2 轉檔用函式----------------------------------------------------- 41
5.2.3 編修路徑函式-------------------------------------------------- 42
5.2.4 插入性函數----------------------------------------------------- 43
5.2.5 編修檔儲存與讀取-------------------------------------------- 43
5.3 路徑編修-------------------------------------------------------- 43
5.4 DXF轉ANCA EPPL------------------------------------------ 45
5.4.1 DXF圖形交換格式-------------------------------------------- 45
5.4.2 ANCA EPPL加工程式格式---------------------------------- 48
5.4.3 DXF轉ANCA EPPL之方法--------------------------------- 49
5.5 教導模式-------------------------------------------------------- 50
5.5.1 直線之教導----------------------------------------------------- 50
5.5.2 圓弧與全圓之教導-------------------------------------------- 51
5.5.3 雲形線之教導-------------------------------------------------- 52
第六章 模擬與實驗結果----------------------------------------------- 55
6.1 速度環之時間常數鑑別實驗--------------------------------- 56
6.2 單軸之追隨誤差實驗----------------------------------------- 58
6.2.1 進給速率2000mm/min實驗---------------------------------- 58
6.2.2 進給速率5000mm/min實驗---------------------------------- 60
6.3 雙軸之循跡誤差實驗----------------------------------------- 62
6.3.1 直線路徑實驗-------------------------------------------------- 62
6.3.2 圓形路徑實驗-------------------------------------------------- 67
第七章 結論與未來展望----------------------------------------------- 71
參考文獻 -------------------------------------------------------------------- 72
簡歷 -------------------------------------------------------------------- 75

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