本文介绍了自主研发的一种高性能独立式多轴运动控制器的实现方法。该运动控制器主要由高速、高精度运动插补微处理器和千兆以太网接口等电路组成。为实现高速、高精度性能,采用美国TI公司新推出的DSC(Digital Signal Controller)技术,...本文介绍了自主研发的一种高性能独立式多轴运动控制器的实现方法。该运动控制器主要由高速、高精度运动插补微处理器和千兆以太网接口等电路组成。为实现高速、高精度性能,采用美国TI公司新推出的DSC(Digital Signal Controller)技术,实现了运动控制指令在线解释和执行,高速运动插补和PID控制算法;采用SOC(System on Chip)技术,在单片FPGA(Field Programmable Gate Array)上集成了运动控制器的高速接口,包括RSIC(Reduced Instruction Set Computing)微处理器、千兆以太网MAC(Media AccessControl)接口、控制脉冲输出和光电编码器输入模块等。文章重点阐述了该控制器的结构原理,并给出所实现的核心模块的仿真结果以及所设计的高性能独立式多轴运动控制器的系统应用实例。展开更多
For the problem posed by closely spaced modes, this paper defined the MCC (modal correlation criterion) to measure the degree of correlation between close modes. It was proved that structures with certain features ten...For the problem posed by closely spaced modes, this paper defined the MCC (modal correlation criterion) to measure the degree of correlation between close modes. It was proved that structures with certain features tend to have closely clustered modes and the corresponding mode shapes highly correlated. With this understanding, the closed-form expressions for controllability and observability Grammians were adopted to analyze the impacts of actuator/sensor placement on the controllability/observability of highly correlated close modes. On this basis, the problem of actuator/sensor placement, when the optimization criterion is based on modal controllability/observability, was simplified. Moreover, the dimension of the control/measurement vector in independent modal space control for highly correlated close modes was proved to have the potential to be reduced, therefore fewer actuators and sensors were required in this dimension-reduced control strategy. Finally, the desirable vibration suppression for an example structure showed that the theory and methods of this paper were accurate and effective.展开更多
文摘本文介绍了自主研发的一种高性能独立式多轴运动控制器的实现方法。该运动控制器主要由高速、高精度运动插补微处理器和千兆以太网接口等电路组成。为实现高速、高精度性能,采用美国TI公司新推出的DSC(Digital Signal Controller)技术,实现了运动控制指令在线解释和执行,高速运动插补和PID控制算法;采用SOC(System on Chip)技术,在单片FPGA(Field Programmable Gate Array)上集成了运动控制器的高速接口,包括RSIC(Reduced Instruction Set Computing)微处理器、千兆以太网MAC(Media AccessControl)接口、控制脉冲输出和光电编码器输入模块等。文章重点阐述了该控制器的结构原理,并给出所实现的核心模块的仿真结果以及所设计的高性能独立式多轴运动控制器的系统应用实例。
基金supported by the National Natural Science Foundation of China (Grant No. 10872028)
文摘For the problem posed by closely spaced modes, this paper defined the MCC (modal correlation criterion) to measure the degree of correlation between close modes. It was proved that structures with certain features tend to have closely clustered modes and the corresponding mode shapes highly correlated. With this understanding, the closed-form expressions for controllability and observability Grammians were adopted to analyze the impacts of actuator/sensor placement on the controllability/observability of highly correlated close modes. On this basis, the problem of actuator/sensor placement, when the optimization criterion is based on modal controllability/observability, was simplified. Moreover, the dimension of the control/measurement vector in independent modal space control for highly correlated close modes was proved to have the potential to be reduced, therefore fewer actuators and sensors were required in this dimension-reduced control strategy. Finally, the desirable vibration suppression for an example structure showed that the theory and methods of this paper were accurate and effective.
