Development And Application Of Embedded Motion Control Function Blocks

The development of the motion control technology has been quite a long time,and now it is widely used in CNC,robots and some advanced equipments such as printing machinery,textile machinery and packaging machinery and so on.However,for a long time,there are some prominent problems in the development of motion control technology,such as the programming language is not unified,the data interface type is nonstandard,the software has strong dependence on hardware and the poor program transplant and so forth.That seriously hinders the further development of motion control technology,and brings a lot of inconvenience for developers and users.In view of this,the PLCopen international organization,established in 1992,established a special technical committee,which developed a series of standard motion control function blocks based on IEC 61131-3 international programming language standards,which have many advantages,such as standard interface,clear function,good portability and so on.In the thesis,some single axis and multi-axis motion control function blocks are studied and developed,and the algorithms involved in the realization of motion control function blocks are researched and improved,and then developed motion control function blocks are wraped into a library.That facilitates a second development and application,and can also effectively reduce the cost of software development.In the thesis,firstly,the trapezoidal acceleration and deceleration algorithm used in the single axis motion control is analyzed theoretically,deduced and discretized,and the correctness of formula derivation is validated by using MATLAB tool.Secondly,the problem of large computational quantity of the general S-shaped acceleration and deceleration algorithm is optimized,and the improved S-shaped acceleration and deceleration algorithm is designed and verified in detail.In addition,the thesis introduces the exponential acceleration and deceleration algorithm in numerical control field,and makes a feasible exploration and analysis on its application in motion control function blocks.At last,the linear interpolation algorithm and the circular interpolation algorithm are analyzed in detail in the multi-axis motion control,and the recursive formulas to reduce the computational complexity are given.In the thesis,the C language due to its good portability is used as the development language of motion control function blocks,and the input and output interface of motion control function blocks are encapsulated by the form of structure body,which plays a protective role in the internal data hiding of motion control function blocks.In the thesis,the function of the motion control function blocks is validated with the specific physical experiment platform.Taking the trapezoidal acceleration and deceleration algorithm as an example,the actual control effect of the algorithm is tested,and two sources of error are analyzed:the error caused by the data type conversion and the dead zone pulse of the servo motor.Then the effective solution is put forward,which is proved to be very efficient through the verification and comparison experiment.In the thesis,the multi-axis motion control function blocks are studied and implemented,some parameters are explained in detail,and the cam table is analyzed and studied.Finally,the thesis makes a transplant test and function verification on the embedded motion control platform,and combines the three axes linkage robot chip test system project to carry on a concrete application,using actual project examines the subject research achievement,thus unifies the theory research and the practical application.