| The advanced nature of a country’s industry is reflected in thedevelopment level of Mechatronics Technology. As the important part offive core technology in mechatronics, motion control technology isbecoming more and more widely used in the application of all walks of life.However, motion control technology in domestic is far behind thedeveloped countries in the west, therefore it is of great significance to studythe advanced motion control technology. The motion controller is thecentral composing of motion control, and the further study of motioncontroller is the key to develop the motion control technology.Programmable multi axis motion controller (PMAC) is developed byAmerican Delta Tau Data System Inc, it is widely used in the market as themainstream product due to its function quite powerful. In this paper,PMAC motion control card as the core part of AC servo motion controlsystem was investigated experimentally.This paper summarizes the constitution and classification of motioncontrol system, and reviews the research status and development trend ofmotion control system and motion controller at home and abroad. After thefunctions and advantages of PMAC are introduced, the software running,basic parameters and variables set of PMAC clipper control card aredescribed emphatically. Focus on the study of proportionalintegral/differential of PID control principle and speed/accelerationfeedforward compensation control principle; In AC servo motion controlsystem with the PMAC clipper control card as motion controller, PMACtuning software was applied to adjust the feedforward control parameters of PID velocity/acceleration; Several typical abnormal regulation resultsthat appeared during adjusting process were analyzed, and found thecorresponding solutions. After repeated adjustment, the applicablefeedforward control parameters of PID velocity/acceleration were obtained,so that the AC servo motion control system have the favorable systemrigidity and stability, then the following errors and steady-state errors ofsystem were reduced.PMAC clipper control card have a strong motion program and PLCprogram function, threrfore, the self-adjusting of PID control andvelocity/acceleration feedforward control were realized by using PLCprogramming, and then realize PID and velocity/acceleration feedforwardparameters self-adjusting of AC servo motion control system at differentspeeds.In addition, comparison of the advantages and disadvantages ofseveral typical acceleration/deceleration methods for AC servo motor, TheS curve acceleration/deceleration control method is found to be effectivelyeliminate the starting shock and jitter of AC servo motor. This paperfocuses on the study of S curve acceleration and deceleration algorithm inthe PMAC clipper control card, build and run the motion program of Scurve acceleration and deceleration in the PMAC Pewin32Pro. Thevelocity curve which plotted by PMAC plot32Pro at different speeds werecompared, it is found that the AC servo motor starts more stable, no jitter,and the acceleration and deceleration process becomes steady.Meanwhile, the interpolation process of PMAC clipper control cardwas discussed, the software realization method of point by point and linearinterpolations was studied, and the principle and algorithm of severalinterpolation modes such as arc, spline et al were analyzed. The workprovide preferences for the research and development of interpolation andpackage of motion controller in domestic. |
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