The Design Of Single-axis Motion Controller

In recent years, with the development of AC servo technology, AC servo system has been widely used in many fields. Targeted at the single-axis motion control applications in industrial automation, a kind of single-axis motion controller which is cost-effective and easy to operate, is designed in this thesis based on a stand-alone servo driver.Firstly, this thsis analysed the applications of AC servo system in the industrial automation, introduced the function requirement of stand alone motion control application on servo drives at home and abroad. Based on pratice condition, the overall design scheme of the system is proposed. Then, the theory and implementation of trajectory planning are illuminated. The path planning principle of Trapezoidal-Curve and S-Curve are introduced, especially several key issues of the algorithm realization are specified.Afterwards, this thsis presented system hardware architecture and the servo software design method based on interrpt-driven and scheduling cycle. Meantime the modular package of trajectory planning is described detailly. In order to meet different applications, CAN-Bus used in the distributed control and Serial Peripheral Interface(SPI) used in stand alone running mode are adopted as communication interface of the system, interface circuit and software design are given respectively in this thesis. The frame formats of motion control instructions are also simply defined. Finally, the experiment results are achieved in both distributed control with CAN-Bus and stand alone control with instructions saved in E2PROM inside the servo drives. The validity of two design schemes given above is verified. In the same time, the planning experiment results of Trapezoidal-Curve and S-Curve under different motion parameters are showed in this thesis, the analysis of results also verified the planning algorithm.