The Design Of Double Degree Of Freedom With Heterogeneous Motors Workbench

The motion control system is based on the mechanical driven movement--motor ascontrol object, the controller as the core, and the power electronics、the power conversiondevice as the executing agency, and it is the electric drive control system under theguidance of the automatic control theory. As the workbench in practical applicationsometimes requires different types of motor coordination, so we design the workbenchbased on the stepper motor and servo motor as the two heterogeneous motors as thecontrolled object.Based on programmable logic controller PLC of Siemens as the controller, using PLChigh speed pulse output to control two heterogeneous motor as axial and radial positioningof two degree of freedom, and using the high speed counter to record position informationin real-time, so form a closed loop to achieve precise positioning. It has simple structure,convenient operation, strong anti-interference ability, and has the very high accuracy ofsystem reproduction.As we need to achieve the synchronization control of two heterogeneous motors inthis workbench design, so analysis and research the interpolation principle of differentinterpolation algorithms and application structure types, combine with the structure designof the workbench, finally we use Time division method of Data sampling interpolation toachieve the Synchronous control of linear interpolation and circular interpolation for thetwo heterogeneous motors.This paper also introduces the design of the graphical interface of the control system.Using the Kunlun Tong Tai configuration software MCGS to design the interface, andthrough the real-time communication of the configuration software and the Siemens PLC,it display the trajectory curve of the control system. It also can monitor and control thework state of the control system through the operating instructions of the graphicalinterface.