力矩电机的控制系统设计与性能实验论文.doc

力矩电机的控制系统设计与性能实验 摘要 现代高档数控机床的发展对转台旋转进给伺服性能提出了越来越高的要求，在各种数控转台中，传统的驱动方式难以实现高精度加工。本文采用KOLLMIRGEN力矩电机直接驱动数控转台，消除了中间传动环节，具响应速度快、动态刚度和定位精度高等特点。 本文依据“零传动试验台”的具体要求，采用了“NC嵌入PC”的开放式数控系统，采用工控机作为上位机，来处理数控系统中的弱实时性任务，用PMAC运动控制卡作为数控系统的控制器，完成数控系统中的强实时性任务；安装了PMAC运动控制卡的IPCDanaher Motion伺服驱动器、力矩电机组成了三环闭环的控制系统；利用PMAC提供的PID执行程序在线调节整个系统的PID参数，优化系统的动态性能；利用RENISHAW激光干涉仪 RENISHAW激光干涉仪Design of Torque Motor Control System and Performance Test ABSTRACT The performance of the rotative feed servo is more and more important with the development of modern advanced numerical control machine ,in various NC rotary tables, the traditional drive mode is very difficult to implement high precise processing. The text taking kollmorgen direct drive NC rotary table, in this drive mode, all mechanical transmission elements are eliminated, and it has quick response ,high dynamic stiffness and position precision. According to requirement of zero mechanical transmission experimental table, this text taking “NC+PC” openning architecture, IPC was used as its supervisory to process weak real-time tasks in CNC, and PMAC motion control card was used as the control of CNC to process strong real-time tasks. stage．The whole system PID parameters had been adjusted on—line using the PID executive program provided by PMAC，optimized the dynamic performance of the system. The setting accuracy and the resetting accuracy of the Torque Motor had been determined by RENISHAW laser interferometer. system，and then the setting error compensation on-line had been realized by compiling the error compensation program． Through the debug and detection of the motor, the performance index of it has fulfilled the designing requirement. Key words: Torque Motor, PMAC, RENISHAW laser interferometer 目 录 第1章. 绪论 1 1.1. 课题研究的目的及意义 1 1.2. 力矩电机的研究状况及发展趋势 2 1.3. 国内外超精密数控系统中应用PMAC概况 4 1.4. 开放式数控系统 6 1.5. 论文的主要内容与任务 7 第2章. 伺服驱动单元 9 2.1. 力矩电机 9 2.1.1. 力矩电机的主要特点及应用 9 2.1.2. KOLLMORGEN力矩电机D063M 10 2.2. 伺服驱动器 11 2.2.1. 驱动器的主要端口 12 2