The Research Of Multi-axis Control System

CNC technology and robotics are the basis and symbol of industry modernization, which are the synthetical technique subject including mechanical engineering, electronics, computer science, kinematics and kinetics, automatization. With the incessantly development of computer and autocontrol technology, realizing CNC system and robot control becomes the focus, toward high performance, high precision, high speed, high flexible, multi-axis harmony control, opening architecture and modularization.Moreover, because the control system relates to various fields, it can be resolved into different disciplines and respects. To the important, these knowledge and research also have very good guidance functions in the control on other devices and equipment. Hence, this paper has designed the minimum control system on the basis of the study of multi-axis control system which has consulted the function and request of the axis control board of some famous companies.The system design of this paper, through software program to realize the functions, is consisted of IPC and C8051F02X as hardware. The whole control system has adopted 3-stage control structure: The highest stage is the management and planning, which realizes systematics management, man-machine inter-communication, trajectory planning, coordinate varying and so on-, The middle one is the, which is the tache between the upper and lower and realizes the execution of data transmission, multi-axis movement and signal disposal. The lowest stage is execution, which finishes the interpolation, the ultima servo locomotion, some sepecial signal's inspection and transmits related information to the upper.Based on the research of the whole system structure and function, this paper has also studied the S-curve velocity planning, 3-point spline interpolar, several impoved PID arithmetics and multi CPU communication methods. At the same time, having realized all of them through the VC++ and Keil C software with the programming thought of opening and modularization. Besides, the program...