基于PMAC的伺服电机PID控制系统的

机械设计制造及其自动化文档，文档编号:JX1074  文档字数:19187.页数:44

摘     要
    交流电动机伺服驱动系统由于其结构简单、易于维护的优点逐渐成为现代产业的基础。其中交流伺服系统在机器人与操作机械手的关节驱动以及精密数控机床等方面得到越来越广泛的应用。在实际生产中我们常常采用PID控制方式对交流伺服系统进行控制。这是由于PID 控制器结构简单、稳定性好、可靠性高。 对于受控对象结构和参数已知的场合, 通过合理调整PID 控制器参数, 便可获得好的控制效果。
 本文设计的是一套基于PMAC2A-PC104（8轴运动控制卡）控制交流伺服电机的系统。文档根据系统的要求完成了整体方案设计，针对所设计的控制方案对控制系统的软、硬件设计作了详细论述。硬件部分先作了控制方式的设计，经过对比确定了系统所采用的控制方式，并介绍了在这个控制方式下的信息流程图。在硬件部分设计了PMAC控制卡的选型和富士伺服系统的选型，并作出了系统的硬件接线图，详细解释了各接线端子的作用。而后总结了数字PID控制的一般原理，以及这些原理在本系统中的影响。介绍了PMAC卡中的PID控制原理。软件部分介绍了PMAC的应用软件，并作出了对其自带编程语言的简介。介绍了PMAC卡中一些常规指令置。最后根据PMAC卡的控制特点作出了一个程序的流程图并在附录中编写出了这个具体的程序。
 
关键词：交流伺服电机  PMAC  PID控制

Abstract
AC servo motor drive system because of its advantages as its simple structure, easy to maintain ,is becoming the basis of modern industry. AC servo system is being more and more widely used inareas of robot manipulator and operation of the joint drive, and precision CNC machine tools . Production in the first century of our PID control method is often used to control AC servo system. This is because the PID controller structure is simple, good stability and high reliability. The structure and parameters of the controlled object known occasions, through the rational adjustment of PID controller parameters to obtain good control effect.This article is a design based on PMAC2A-PC104 (8-axis motion control card) AC servo motor control system. Papers in accordance with the requirements of the system to complete the overall program design, designed for control program of the control system hardware and software design were discussed in detail. Hardware to control the design was made after comparing the system used to determine the control mode, and introduced in the control of information flow chart. In the hardware design of the PMAC control card servo system selection and the selection of Fujitsu, and made a wiring diagram of the hardware system, explained in detail the role of the terminal block. Summed up the figures and then the general principles of PID control, as well as the principle in the system impact. PMAC card introduced in the PID control theory. PMAC introduced the software application and make its own programming language was introduced. Introduced a number of conventional PMAC card purchase instructions. Finally, according to the characteristics of PMAC control card to make a flow chart of procedures and the preparation of the appendix that this specific procedure.
Keywords：AC servo motor  PMAC  PID control

目  录
中文摘要 I
英文摘要 II
目  录 III
 1.1  研究动机和目的 1
 1.2 研究背景 1
 1.3 研究方法 3
 1.4 文档内容概述 3
第二章  系统设计 4
 2.1 控制方式设计 4
 2.2 系统信息流图及详解 6
 2.3 系统硬件工作过程： 7
 2.4伺服系统设计 7
2.4.1伺服系统的选择及其优点 7
2.4.2伺服驱动器的选择 8
2.4.3伺服电机的选定 10
 2.5 运动控制卡设计 11
2.5.1 PMAC的简介 11
2.5.2  PMAC Ⅱ型卡的接口及其常用附件 12
第三章PID控制研究 16
 3.1 PID控制原理 16
3.1.1 模拟PID调节器 16
3.1.2 数字PID控制器 17
 3.2 PMAC卡PID控制分析 20
 3.3 PMAC2A-PC/104型卡电机I变量参数设置 23
 3.4 PMAC2A-PC/104型卡其他I变量设置 24
第四章 系统软件编程 26
 4.1 PMAC软件 26
4.1.1执行软件 26
4.1.2开发软件 26
4.2.2闭环指令 27
4.2.3 回零指令 27
4.2.4 注意事项 28
 4.3 PMAC自带运动程序语言简介 28
 4.4 程序编写 29
第五章 结  论 31
参考文献 32
致  谢 33
附录A： 34

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