标题: | 以EtherCAT实现CNC先进伺服运动控制设计之关键技术 Key Technologies of Realizing Advanced Motion Control Design on CNC Machines through the EtherCAT |
作者: | 汤皓云 Tang,Hao-Yun 徐保罗 Hsu, Pau-Lo 电控工程研究所 |
关键字: | 乙太网路控制自动化技术;交错式封包传输;交叉耦合控制器;非线性摩擦力补偿器;EtherCAT;Interleaving packet transmission;Cross-couple controller;Nonlinear friction compensator |
公开日期: | 2015 |
摘要: | 网路控制系统透过运算、网路通讯、控制单元整合,网路控制系统可以简化人员的远端管理与建立,进而提升系统性能与便利。因此,建立乙太网路自动化技术EtherCAT(Ethernet for control automation technology)通讯介面,整合EtherCAT网路通讯与伺服马达控制,以利远端下达控制命令与设计控制器。本论文在EtherCAT主站 ET9200透过Beckoff ET2000封包监测器分析封包壅塞与遗失,并提出交错发送与接收通讯与资料遗失估测器来改善资料遗失。另外,工研院已开发出一套以INtime即时环境之EtherCAT网路化CNC控制介面。INtime的取样时间可达0.25ms,而且透过ET2000封包监测器量测封包传输时间,并求得标准差,判断出INtime即时性佳,并可直接对CNC车床XZ平台做运动控制。最后,为了追求高精度双轴控制,整合比例-微分控制(PD)、数位扰动观测器(DDOB) 以及使用交叉耦合控制(CCC),本研究有效的弹性实现不同先进控制器设计在EtherCAT之CNC控制器上,有效的改善了CNC的运动精密度。此外,进一步在EtherCAT的CNC控制器上,实现了静态非线性摩擦力NFC补偿器,以及动态非线性摩擦力LuGre补偿器,CNC平台循圆指令经过由马达解码器测试,在比较P控制器与现有之整合控制器,原有的真圆度17.8 um有效的改善至3.8 um,而由DBB测试之真圆度也由原有之26.2 um改善至现有的12.0 um,凸显EtherCAT适合于实现弹性的CNC控制架构与补偿器。 Ethernet Automation Technology EtherCAT (Ethernet for control automation technology) that is established for real-time control applications now is widely adopted in Industrial automation. In this thesis, the packet congestion and data dropout in EtherCAT master ET9200 were analyzed by the packet monitor of Beckoff ET2000. Both the interleaving transmission/receive communication and the missing message estimator are proposed to improve the data loss. On the other hand, ITRI has developed an CNC control interface with the real-time EtherCAT system INtime for master of EtherCAT Internet communication, experimental results that Beckoff ET2000 measure packet transmission time indicate that the sampling time can be set to 0.25ms without data dropout. By implementing the EtherCAT CNC interface on the Tongtai CNC XZ table, all the proportional-derivative (PD) controller, the digital disturbance observer (DDOB), and the cross-coupled controller (CCC) can be realized. Furthermore, both the static nonlinear friction compensator (NFC) and the dynamic nonlinear friction compensator LuGre model were realized on the real-time EtherCAT CNC controller to significantly improve motion precision. Compared with the P Controller, the roundness was improved from 17.8 to 3.8 based on the encoder measurements by applying the proposed integrated controller. Furthermore, its roundness was also significantly reduced from 26.2 to 12.0 from the measurements of double-ball bar. |
URI: | http://140.113.39.130/cdrfb3/record/nctu/#GT070260043 http://hdl.handle.net/11536/126993 |
显示于类别: | Thesis |