Open Digital Motion Controller Based On Sercos

The motion controller technology is an important part of the open CNC system based on serial real-time control network. This paper discusses the system structure of open architecture CNC system deeply, and analysis the servo system and CNC soft development trends of the open CNC, then puts forward a new open CNC structure with a new architecture of off-line interpolation and SERCOS real-time control. The reality open architecture in the hardware of CNC system has come true.First of all, this paper introduces development, the framework and the situation of the research on motion control in details, then puts forward the design project of CNC system host computer and slave computer based on SERCOS interface and embedded motion control system based on ARM7 microcontroller, and makes the function partition of the CNC system.Secondly, this paper briefly introduces the SERCON816, the ARM7 microcontroller AT91SAM7SE and the axis servo controller IRMCK201, then designs the peripheral circuit of these main controller. The software platform using RTOS system uC/OS-II makes real time application program design and extension to be easy. This paper introduces the program transplanting of the RTOS in ARM7 microcontroller and design the task of the software.This paper's another important part is studying of PMSM's Space Vector control and controlling algorithems based on motion controller. In this paper, the Space Vector PWM (SVPWM) is used to design the PMSM servo controller by analyzing the math model of PMSM. It chooses the feedforward controller to make a position controller, and uses fuzzy PI parameter adjust to make the PI controller in current loop and velocity loop control to have self adapt ability. The paper expatiates on the course of how to design and realize the axis servo controller for PMSM. At last, it approves the design train of though through simulation by MATLAB.