Design Of Motion Controller And Study Of Optimization For Control Parameters

The motion control technology is widely used in the domains of industry, weapon system and so on. This paper is root in the natural sciences funding project of Hunan Province in 2005:"The Study for Advanced Control Tactics of Precise CNC Machine". The paper makes a research on motion controller which is the core part of precise CNC machine. Based on analyzing and summarizing the development of domestic and overseas motion controller, we present the technical index and general scheme of motion controller. This paper lucubrates on the hardware design, software design, model indentification of servo system based on motion controller, optimization for control parameters.The main work is organized as follows:1. Besides designing a hardware platform based on motion controller with high-speed 16 bit DSP and CPLD, this paper analyses and designs electric circuits of ADC, signal modulation, DAC, DARAM, power supply progressing and position feedback.2. This paper achieves the bottom DSP software and CPLD software of motion controller. Firstly, it determines the structure and modulation method of DSP software; Secondly, it elaborates the characters and implementations of inner closed-loop method; Lastly, it presents the design points of Watch-dog timer module in DSP software against halts. The paper lucubrates on the implementation and accuracy of precise pulse generator in CPLD, elaborates filter progressing of the position feedback signal and method to achieve quadruplicated frequency and direction identification circuit in CPLD, and gives the simulation results.3. The paper constructs the theoretical model of ball nut lead-screw system based on motion controller by using the dynamics and kinematics synthetically, which provides the theoretical reference for the further on-line experiment identification.4. The paper identifies the target system based on motion controller by using correlation analysis, and then proposes the design method to optimize the controller's parameters.In order to compare the identification accuracy of this method, the paper adopts frequency-domain modeling to identify system, Then we gain the simulation and analysis results.5. For it is difficult to adjust the controller's parameters, the paper optimizes the motion controller's parameters through PSO algorithm on the basis of precise model which was built before.6. Using LabWindows/CVI, this paper implements debugging software which is based on identifying motion controller's target system as well as optimizing controller's parameters via methods of correlation analysis and frequency-domain modeling.