基于pmac的高速滑轨运动平台的开发及实现-机械电子工程专业论文.docxVIP

华 华 中 科 技 大 学 硕 士 学 位 论 文 II万方数据 II 万方数据 Abstract In some experiments, trajectory simulation is necessary for getting information about the motion state of the objects. At present, there is very few such kind of high-speed simulation platform, therefore researching and developing a 3-dimensional high-speed motion simulation platform is of great significance. Firstly, this thesis introduces the background of the research subject and analyzes the significance of it. The thesis discusses the current developing situation of high-speed motion control technology, and accordingly decides the NC mode of this platform- PC + motion control card. Based on this NC mode, design principles are made according to the technical specification of the system. Then the thesis amply introduces the constructional process of this platform in two aspects of hardware and software based on the design principles. For the aspect of hardware, it describes the structure and especially introduces PMAC motion control card and the wiring method; for the aspect of software, it introduces the programming method based on PMAC card, the variable setting method, and the module design of the software system. This thesis researches the real time interpolation algorithm of random points, and discusses the interpolation method of polynomial curve, cubic spline curve and piecewise Bezier spline curve. Then the thesis presents an interpolation algorithm of piecewise cubic Bezier spline curve, based on which a trajectory-planning simulation program is coded. In addition, this thesis presents an instance of the control system, which amply introduces the UI and the operation process. Finally, this thesis gives a comprehensive summary of the subject, presenting the points that need to be improved and accordingly make some prospects for the future research. Keywords: high-speed motion simulation, PMAC motion control card, real time interpolation algorithm, piecewise cubic Bezier spline curve PAGE III万方数据 PAGE II