Research On The Key Techniques For Network Multi-axis Of Permanent-magnet Ac Servo System

With the rapid development of industrial automation, the application range of multi-axis ofpermanent-magnet ac servo system was more and more widely. In the application of traditionalpulse and analog modes to control running of multiple servo axis, there were two prominentproblems about the complex physical connection and the lower real-time. Aiming at theproblems, the traditional drive control servo mode was abandoned, and the new networkmulti-axis drive interface model was used in the key technologies included on fieldbus and onindustrial Ethernet. Fieldbus was selected to multi-axis servo system based on CAN bus, whileindustrial Ethernet was selected to multi-axis drive interface technology of real-time Ethernetbased on EtherCAT. According to the model of network multi-axis drive, the two overall plansof control mode were put forward. Through multiple platforms tested, prove the feasibility of theoverall control scheme. The main contents of this paper included:First of all, according to the specific requirements of servo drive system, the model ofnetwork multi-axis servo system was designed, and the key technology of network servo systemwas studied. Two kinds of control methods in the servo system were selected, namely thescheme based on CAN bus and the scheme based on EtherCAT, and their advantages andapplication scope were introduced.Then, the multi-axis servo drive system based on CAN bus was designed. The CANopencommunication principle and protocol specification were introduced. The mulitiaxie servosystem control schme based on motion control protocol CANopen DSP402was designed. Somecontrol modes of Position cooperation and velocity cooperation were designed, such assingle-axis potition control, biaxial position cooperation control, biaxial position synchronizationcontrol, single-axis velocity control, biaxial velocity cooperation control, biaxial velocitysynchronization control. An experimental platform to biaxial servo system was built, and theperformance in position and velocity control modes was tested and analyzed. The test resultsshow that, biaxial control performance is good. The feasibility of the scheme was proved, whichcan provide a high cost performance schme about multi-axis cooperation control industrialoccasions of point control. Again, the multi-axis servo drive system for real-time Ethernet based on EtherCAT wasdesigned. The specification of CoE and the difference to CANopen were introduced. Thehardware, software and configuration file on the slave interface of servo system was designedrespectively. The mulitiaxie servo system control schme based on EtherCAT was designed.Three groups of experimental platform were built step by step. The ability and performance ofEtherCAT IO、CoE and motion control were tested, and integrated system performance onreal-time Ethernet was tested. The tests results show that, the feasibility of the system schemewas proved, which can provide design references for multi-axis drive industrial applications ofprofile control on high performance and high precision.Finally, this paper was summarized, and the short comings were discussed in the test.