基于PCI和USB总线的开放式运动控制器开发毕业论文设计.doc

基于PCI 和USB总线的开放式运动控制器开发 摘 要开放式数控系统已成为当今数控技术的发展方向目前的开放式数控系统多以PC机为基础，配上各种运动控制器运动控制器的应用已走出机械加工行业，越来越多地应用于其它工业自动化设备控制，如机器人控制、电子机械、木工机械、纺织机械、印刷机械等诸多行业。基于PC总线的以DSP和CPLD/FPGA作为核心处理器的开放式运动控制器将PC机的信息处理能力和开放式的特点与运动控制器的运动轨迹控制能力有机地结合在一起，具有信息处理能力强、开放程度高、运动轨迹控制准确、通用性好等优点，因此发展迅速。近几年，USB总线优点迅速发展。针对国内外开放式运动控制器存在的一些缺点，诸如国外产品价格太高、技术支持相对较差，国内产品不支持USB总线、存在一些技术上的等本文以DSP芯片TMS320LF2407作为处理器，分别基于PCI和USB总线开发了多轴开放式运动控制器。 基于前馈补偿的PID控制算法时间分割插补提供了丰富的动态链接库函。实验和仿真结果表明，系统设计合理，具有实时性好，跟随误差小，加工精确度高等优点。关键词USB 2.0协议；PCI总线；NURBS插补DSP Development of Open-Type Motion Controller Based on PCI and USB Bus Abstract The open-type numerical control system has become the development trend of NC technology nowadays, and the present NC systems are mainly based on PCs (personal computers) with various motion controllers. The application of motion controllers has extended out of the machine-processing field; more and more are applied in control of other industrial automation devices, such as robot control, electronic machinery, woodworking machinery, textile machinery, printing mechanism, and so on. The open-type motion controller has developed rapidly, which uses DSP and CPLD/FPGA as core processors and combines the information-handling capacity and the open-type characteristic of PC with the controller’s motion path control ability, having many advantages such as strong information-handling capacity, good open-type characteristic, precise motion path, good versatility. From now on, the development of open-type motion controllers based on computer standard bus is still the market mainstream. The PCI bus solves the problem of low response velocity of ISA bus, and in recent years, equipments based on USB bus have also developed rapidly because of the merits of USB. Aiming at the shortcomings of domestic and foreign open-type motion controllers, for example, the overseas product price is high, the technical support is relatively weak, and the domestic product does not support USB bus, existing some tech