基于运动控制器开放式数控平台研究.pdf

Classified Index: TG659 .: 621Dissertation for the Master Degree in Engineering THE RESEARCH OF C PLATFORM BASED-ON MOTION CONTROLLERCandidate:Zhengkai Dong Supervisor:Associate Professor Jiangang Li Academic Degree Applied for:Master of Engineering Specialty:Control Science and Engineering Affiliation:Shenzhen Graduate School Date of Defense:Dec, 2010 Degree-Conferring-Institution:Harbin Institute of Technology 哈尔滨工业大学工学硕士学位论文- I -摘要数控系统已朝着开放式方向发展,而基于运动控制器结构的开放式系统更是近年来数控技术发展的热点,目前在国内许多系统集成上采用运动控制器开发自己的数控系统,但由于运动控制器只是提供底层的运动控制功能,用户要开发数控系统的话还需要做许多工作。本文的目的是利用运动控制器建立一个开放式的数控平台,该平台提供数控系统一些基本功能模块以及开放式接口,方便用户进行数控系统开发。本文主要包括两个方面的内容:平台架构的研究及平台关键模块的研究。本文提出了一种分层的数控系统架构,将数控系统的各功能模块按其特点分成实时控制层、NC平台层以及应用层,各层之间通过API接口函数进行通讯。然后基于此架构利用固高公司GTS运动控制器构建了一个开放式数控平台,并且对该平台的主要功能、架构以及模块之间的通信模型和数据接口进行了分析与设计。本文还对该平台的主要功能模块进行了深入的研究,包括代码解析、***补偿和加工路径优化等。代码解析模块利用正则表达式进行词法分析,极大方便了代码解析过程,该模块实现了对ISO规定的常用G代码的支持;***补偿功能模块对各种转接模型进行了分析与建模,实现了对加工路径的C功能刀补;加工路径优化模块利用基于多尺度的尖角检测方法实现了对加工路径的准确分段,然后用最优双圆弧拟合的方法对各段进行光顺处理,结果证明该方法对那些带有噪音的加工路径有明显的改善。关键词:开放式平台;架构;运动控制器;路径优化哈尔滨工业大学工学硕士学位论文- II -Abstract The C system based on motion controller is a hot spot in recent years. And more and more system integrators develop C system using motion controller. But the motion controller only provides the basic function of motion control, so the system integrators have a lot of work to do to develop C system. This paper aimed to set up an C platform, which provided most of the basic functions C system, to simplify the system integrator’s work. In this paper, the C platform was studied, specifically including the following aspects: the platform architecture and the key modules of the platform. Platform architecture is the abstract description of the overall functions and structure for the platform. This paper presented a layered architecture C system. It divided C system into real-time control layer, NC platform layer and application layer. Based on this architecture, the structure of the C platform based on GTS motion con