Based Ethernet Multi-Axis Motion Control Systems Research
|School||Zhejiang University of Technology|
|Course||Control Theory and Control Engineering|
|Keywords||motion control system embedded system Ethernet speed control|
As a strategic pillar industry of our country, the manufacturing industry plays an important role in the development of national economy, and also is an important symbol of a country’s modernization. As an important technology in the manufacturing industry, the motion control technology affects the development of the manufacturing industry. With the popularization and development of the network technology, adopting Ethernet as a control bus becomes a research hotspot.To improve the accuracy and speed of the motion control system, this thesis reviews related theories and technologies in existing literatures, and studies the multi-axis motion control system by Ethernet technology and the embedded system technology. The speed control problems of the multi-axis motion control system are also considered. The main contents of this thesis are listed as follows:Firstly, the multi-axis motion control system based on Ethernet technology and the embedded system technology is designed. The structure of the system is introduced, and the hardware platform is built.Secondly, the embedded TCP/IP stack that used in Ethernet communication is implemented. To avoid the channel conflict and improve the real-time performance of the system, a real-time guarantee method of inclusive CSMA/CD is put forward.Thirdly, the multi-axis motion control system adopts the speed backtracking algorithm and the improved S-curve speed control algorithm for the speed control method. The control method maintains the speed a high value, makes the speed changes smoothly, and avoids the flexible clash.Fourthly, the real-time operation system μC/OS-Ⅱ is ported on the LM3S9B92processor. Based on the/μC/OS-Ⅱ and the embedded TCP/IP stack, the sofeware of communication is implemented. To accomplish the speed control of the system, the speed backtracking algorithm and the improved S-curve speed control algorithm are carried out. Finally, it is briefly summarized the whole thesis, and proposed some suggestions to the further research.