臺灣博碩士論文加值系統

本論文研製完成一個以即時網路為基礎的多軸運動控制系統，此系統以PC為控制核心，在PC Windows NT的多工操作系統下，利用RTX即時多工核心程式配合本實驗室自行發展的PC-SERCOS通訊介面卡，完成一個利用即時網路為通訊介面的多軸運動與伺服控制系統。伺服控制架構採用串聯式的多迴路控制架構，此架構具有先天上的強韌性，且各迴路的控制器可獨立設計，此外，為了降低伺服相位延遲所造成的追隨誤差，特別設計了兩個前饋式控制器。此運動控制系統的通訊介面，採用以光纖為傳輸媒介的即時控制網路(SERCOS)協定，藉由一個SERCOS專用控制晶片- SERCOS410B，本實驗室完成了一個PC-SERCOS通訊介面卡。透過此通訊介面卡，系統軟體可以設定、調整與監控各伺服控制軸的操作狀況，同時產生以SERCOS為通訊協定的位置、速度或扭矩命令。此運動控制系統的軟體設計主要包含三個部分：即時多工運動控制程式、SERCOS介面卡驅動程式、以及一個以視窗為基礎的互動式人機監控程式。使用者可以藉由人機監控程式線上取得系統相關資料，包括控制參數的調整、系統的運動狀態、錯誤診斷、以及系統的極限設定值等等。本論文說明了此即時網路運動控制系統的設計架構並完成實驗整合，研究結果顯示應用SERCOS即時控制網路協定於高階運動控制系統，具有系統設計模組化、開放式的架構、簡化配線、易於擴充等多重優點，是未來多軸運動控制技術發展的方向。

This thesis presents the application of a real-time communication network protocol, the SERCOS, to advanced motion control system. A multi-axis motion control system has been constructed using a PC, a designed PC-SERCOS interface card, and two servo drives with SERCOS interface. A real-time multi-tasking kernel (RTX) under the Microsoft Windows NT has been employed for the development of the motion and servo control software. Cascaded multi-loop control structure has been adopted in the design of the servo controller. This control architecture has inherent robustness and its control loop can be independently designed. Two additional feedforward controllers have been designed to reduce tracking error due to servo lag. The backbone of this motion control system is a PC-SERCOS interface card using a SERCOS control IC — SERCON410B. Motion and motor control commands generated by the host controller, the PC, can be sent to specified servo axis via the SERCOS optical fiber. Through the SERCOS interface and the PC0-based real-time kernel, the host controller can interactively monitor and control the multi-axis motion control system in real-time. The software design of the motion control system consists three major parts: a real-time multi-task motion control program, a SERCOS interface program, and a windows-based man-machine interface program. Experimental results reveals the designed system has good features of open architecture, modular design, flexibility, easy expansion, simple wiring, etc., and real-time network control will become the major approach in development of high-performance motion control system.

中文摘要i
英文摘要ii
誌謝iii
目錄iv
表列vi
圖列vii
第一章緒論1
1.1研究動機與目的1
1.2研究背景與發展概況3
1.3研究方法與系統描述5
1.4論文架構6
第二章串列即時網路與即時多工核心7
2.1IEC-61491通訊協定介紹7
2.1.1 系統架構介紹7
2.1.2 資料傳輸模式10
2.1.3 資料內容與封包14
2.1.4 SERCOS整體運作模式21
2.2SERCOS專用IC-SERCON410B簡介22
2.2.1 規格介紹23
2.2.2 控制暫存器與內部記憶體之規劃、設定及資料封包24
2.3即時多工核心25
2.3.1 RTX介紹27
第三章SERCOS即時網路的初始化設定29
3.1SERCOS運動控制系統的初始化設定29
3.1.1 第零傳輸相位（CP0）29
3.1.2 第一傳輸相位（CP1）31
3.1.3 第二傳輸相位（CP2）34
3.1.4 第三傳輸相位（CP3）37
3.1.5 第四傳輸相位（CP4）38
3.2SERCOS系統初始化設定之軟體實現38
第四章伺服系統控制器設計41
4.1伺服系統介紹41
4.2控制器規格的制訂45
4.3力矩迴路控制器設計45
4.4速度迴路控制器設計47
4.5 位置迴路控制器設計55
4.6前饋控制器設計57
第五章系統介紹與實驗結果62
5.1實驗及發展系統說明62
5.1.1 實驗系統硬體架構62
5.1.2 實驗系統軟體的規劃和設計64
5.2實驗結果70
第六章結論80
參考文獻83
附錄A86
附錄B94

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