Research And Implementaion Of Open Architecture Motioncontroller Based On PLCopen

The motion controller, as the key component of Computer Numerical Control (CNC)system, is the research focus of CNC technology. However, the problem that several quitedifferent programming languages are used for a wide range of motion controllers becomes themain obstacle to quickly develop a stable and reliable control system.In order to solve the problem, this dissertationaims at developing a motion controller tomeet the requirements of high reliability, excellent performance and more openness. After thePLCopen motion control programming language standard is studied, the controller isdeveloped based on the hardware platform with DSP and FPGA as the main control unit.Themain researches of this dissertation are as follows:Firstly, the core of motion controller is designed according to PLCopen. Besides, thefunction blocks for motion control, including single-axis and multiple-axes, are also designedand developed according to the function block model defined in PLCopen.Therefore, thefunction blocks can be used in the editing environment of PLC ladder programming system tointegrate motion control and PLC process logic control functions in the control softwaredevelopment.Secondly, the realization algorithm of the motion control function blocks is studied. Thespeed control algorithm including the trapezoidal, S-shaped velocity planning and velocityplanning based on acceleration time is applied to the single-axis motion control.Severalexpansion blocks for single-axis control are realized including pausing and continuingmovement, additive and continuous movement. Multi-dimensional linear interpolationalgorithm is realized and a new circular interpolation algorithm based on―center offset‖method is presented. Electronic gear and electronic cam algorithm is also realized. Thevalidity and accuracy of the algorithm is verified through the software simulation.Thirdly, the software framework and the functional modules are designed to meet thedemand of the motion controller applications. Scheduling setting of all modules is carried outwith DSP/BIOS real-time kernel. Software development kit and PLC ladder programmingsystem are provided for secondary development.Finally, the function and performance of motion controller is tested by the experimentsdoing on the control system of automatic slotting equipment which is constructed based onthe controller. The results indicate that the openness and high performance of the controllerwhich is easy to maintain and upgrade meets the requirements of the open architecture motioncontroller.