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dc.contributor.author陳志銘en_US
dc.contributor.authorJr-Ming Chenen_US
dc.contributor.author徐保羅en_US
dc.contributor.authorPau-Lo Hsuen_US
dc.date.accessioned2014-12-12T02:24:11Z-
dc.date.available2014-12-12T02:24:11Z-
dc.date.issued1999en_US
dc.identifier.urihttp://140.113.39.130/cdrfb3/record/nctu/#NT880591053en_US
dc.identifier.urihttp://hdl.handle.net/11536/66286-
dc.description.abstract精密運動控制主要考慮運動控制器的設計與命令精度。本文利用TI 32位元浮點數位訊號處理器,配合FPGA、RS232C與完整的週邊,架構一個經濟實用的精密運動控制板。其中,交叉耦合控制器與零相位追跡誤差控制器,分別針對輪廓(Contouring)與追跡(Tracking)來設計,結合成整合型運動控制器後,可同時改善CNC工具機的輪廓誤差與追跡誤差。定參數NURBS可提高傳統G碼的命令精度,但卻無法有效控制速度的變動,在此,藉由一階近似模型完成定速度NURBS,命令進給可以維持等速的插值。本研究成功的將NURBS命令插值器與整合型運動控制器成功地應用在DSP-Based精密運動控制系統上,使得國產DYNA 1007 CNC銑削中心輪廓誤差真圓度改進比率最高可達5.4倍,速度波動減少15%。zh_TW
dc.description.abstractPrecision motion control is achieved by desirable performance of controllers and accuracy of commands. In this study, the DSP-based motion control system is designed by integrating a TI 32-bit floating-point DSP, FPGA, RS232C, and peripheral functions. In the present system, the cross-coupled controller (CCC) and the zero phase error tracking controller (ZPETC) are separately concerned with contouring and tracking. Then the integrated controller combining CCC and ZPETC simultaneously reduces the contouring error and tracking error of CNC machining center. Furthermore, the uniform non-uniform rational B-spline (NURBS) interpolator does not provide control of the velocity variation. Thus, the 1st order approximation is applied to achieve the constant-speed interpolator algorithm. Experimental results has verified that the present DSP-based CNC advanced motion system successfully realizes the constant-speed NURBS interpolators and the integrated controllers to improve the contouring accuracy of DYNA 1007 CNC center. Moreover, 15% of velocity variation is reduced by applying the proposal approach. 1.1 文獻回顧……………………………………………………… 1 1.2 問題陳述……………………………………………………… 4 1.3 研究方法……………………………………………………… 5 1.4 內容大綱……………………………………………………… 5 第二章 整合運動控制系統架構 6 2.1 零相位追跡誤差控制器……………………………………… 7 2.2 交叉耦合補償器設計………………………………………… 8 第三章 Non-Unifrom Rational B-Spline(BURBS) 14 3.1 NURBS的數學模型與特性描述……………………………. 14 3.2 NURBS參數迭代方式………………………………………. 17 第四章 DSP-Based精密運動控制系統之設計 22 4.1 DSP-Based精密運動控制系統之硬體設計………………… 22 4.1.1 TMS320C31 DSP Starter Kit簡介……………. 24 4.1.2 系統架構說明…………………………………. 26 4.1.3 脈波輸出模組設計……………………………. 28 4.1.4 電壓輸出模組說明……………………………. 29 4.1.5 馬達編碼器解碼電路設計……………………. 30 4.1.6 極限開關濾波器設計…………………………. 31 4.1.7 串列介面電路說明……………………………. 31 4.1.8 記憶體電路設計………………………………. 32 4.2 DSP-Based精密運動控制系統之軟體設計 33 4.2.1 NURBS模組………………………………….. 34 4.2.2 ACC/DEC加減速模組……………………….. 35 4.2.3 ZPETC模組…………………………………... 36 4.2.4 CCC+P與VEL. Loop模組…………………... 37 4.2.5 人機界面的設計………………………………. 38 第五章 實驗結果 39 5.1 系統架構與性能測試………………………………………... 39 5.2 整合運動控制設計…………………………………………... 42 5.3 NURBS解譯與插值…………………………………………. 46 5.4 控制系統效能分析…………………………………………… 49 5.5 實驗討論……………………………………………………… 59 第六章 結論 61 附錄一 63 參考文獻 64en_US
dc.language.isozh_TWen_US
dc.subject運動控制zh_TW
dc.subject精密運動控制zh_TW
dc.subjectCNCen_US
dc.subjectNURBSen_US
dc.subjectDSP-Baseden_US
dc.titleDSP-Based CNC精密運動控制器及NURBS插值器之設計與實現zh_TW
dc.titleDesign and Implementation of DSP-Based CNC Precise Motion Controllers and NURBS Interpolatorsen_US
dc.typeThesisen_US
dc.contributor.department電控工程研究所zh_TW
Appears in Collections:Thesis