Open Motion Controller Application Control Mode

Open motion control technology is the kernel of the motion control system. All the work revolves around the high performance multiaxial PCI Motion Controller of MC series, which has been being developed by our group 322 independently. The main works are to design the driver of the PCI hardware and the entry function libraries, to develop the Cutter CNC system as the application of the Motion Controller, and to study the controlling algorithms that may be embedded in the Motion Controller.The main applications of the Motion Controller are centralized in the domain of CNC and electromechanical systems controlling. In my work, a suit of commercial Cutter CNC system has been developed as the standard application of the Motion controller in the field of CNC, which offers the software modules and reference codes. In this paper the Tool Compensation Method and the High-velocity Pretreatment Method of the CNC System are mainly introduced, and the approaches are given in detail from the principles, the math models and software module design respectively. These software modules can be widely used in other CNC systems with little modification, for they are designed by modularization. It will make the applications easier, improve the efficiency of developing CNC systems and decrease the application threshold of the Motion Controller.The studying of controlling algorithms based on Motion Controller is another important part of this paper. In another Motion Controller's typical application domain, controlling electromechanical system, MC series Motion Controller hasn't offered but some simple PID servo-control algorithms so far, which is far from meeting the complicated electromechanical system. For this reason, some work is done to studying some intricate controlling algorithms. Therefore, this paper mainly makes the researches on the controller's controlling algorithms objected to satisfying the controlling requirements of electromechanical systems better. To the shortage of applying MC series controller on electromechanical systems, the paper advances the CAD (computer-aided designing) methods of servo-control, and researches on some complicated controlling algorithms, which grounds the complicated controlling algorithms embedded in the motion controller theoretically. On the CAD method of servo-control, we emphasizes on the CAD method of parameter identification and controlling parameter optimization based on GA (genetic algorithm) aimed at the physical model of electromechanical system. On the complicated controlling algorithms, we emphatically research on PID algorithms with variable argulment (VAPID), which are analyzed in theory, in designing method and in parameter controlling rule respectively, and discuss the implementation approach of PID controller founded on the Kalman digital filter. The result of simulations shows that VAPID controller is capable to control the systems with large inertia, large time-lapse and time-variation, and that PID controller restrains the noisy disturbance of surroundings well. So the two controllers are justified in being the controlling algorithms embedded in motion controller, for their high use value and simple realization.In the end, the paper advances the proposals of researching the open motion controller ulteriorly.