The Design And Research On Stage Drive And Digital Control System

With the rapid development of cultural industry in our country,all kinds of cultural and entertainment activities,as well as large-scale exhibition,have the urgent need to modern multi-functional intelligent stage.At the same time,it has much more practical significance to research a digital stage control system,which has comprehensive applications and used advanced technologies,such as the multi-media,mechatronics,computer science,automation and other modern technologies.To meet the requests of a domestic manufacturer,the thesis designs an intelligent digital stage control system,which includes two main parts: the servo drive sub-system and the monitoring sub-system.The main works of the thesis are as follows:1.The hardware of motion control system is established,for the proposed stage digital control system.With the demands of high position accuracy,realtime control and multi-node network comprehensively considered,the selection and comparison are carried out on servo driver and communication network;the control method,which is based on CANopen trunk and combines servo drivers with multi-spindle motion controller,is adopted.2.The cooperative control procedure based on motion controller and PLC is completed.By means of profound analysis and test to the runningmechanism of motion controller,the control program is completed,strictly in accordance with its executing logic and scanning mode.The program adopts the concept of modules,including protocol analysis,communication data processing,motion control commands,PLC program andrelated initialization modules.3.The proposed real-time scheduling and processing algorithm to stage motion control commands is based on time element.First,the time node of stage motion chapter is defined.Secondly,according to the sequence of drive motor motions,the command datasheets based on time nodes are created in the real-time database.Finally,system clock is used to search for the according time nodes in the datasheets,whose control commands is sent to controller in form of the user-defined data protocols.Thus standard underlying drivers are driven to ensure realtime,ordering and integrity of the whole stage motions.4.The supervising HMI system is implemented by adopting formal-parameter-mixed input mode.To meet the demands of different people,two chapter-arranging methods are used in the monitoring platform,i.e.formal-parameter-mixed input mode and total parameter input mode.Meanwhile,the demonstration mode is also designed to assist the chapter arrangements better.All the above three modes are realized on the dynamic grouping algorithm in the same database.By this means,users can dynamically group and combine servo motors indifferent groups,which solves the problem of users to control many servo motors at different moments.