A Research on the SERCOS-Based Motion Control Technology

• Main Authors: Po-Ching Chen, 陳柏菁
• Other Authors: Yung-Chun Wu
• Format: Others
• Language: zh-TW
• Published: 1999
• Online Access: http://ndltd.ncl.edu.tw/handle/74988420201403616005

碩士 === 國立交通大學 === 電機與控制工程系 === 87 === This thesis presents the application of a real-time communication network protocol, the SERCOS, to advanced motion control system. A multi-axis motion control system has been constructed using a PC, a designed PC-SERCOS interface card, and two servo drives with SERCOS interface. A real-time multi-tasking kernel (RTX) under the Microsoft Windows NT has been employed for the development of the motion and servo control software. Cascaded multi-loop control structure has been adopted in the design of the servo controller. This control architecture has inherent robustness and its control loop can be independently designed. Two additional feedforward controllers have been designed to reduce tracking error due to servo lag. The backbone of this motion control system is a PC-SERCOS interface card using a SERCOS control IC — SERCON410B. Motion and motor control commands generated by the host controller, the PC, can be sent to specified servo axis via the SERCOS optical fiber. Through the SERCOS interface and the PC0-based real-time kernel, the host controller can interactively monitor and control the multi-axis motion control system in real-time. The software design of the motion control system consists three major parts: a real-time multi-task motion control program, a SERCOS interface program, and a windows-based man-machine interface program. Experimental results reveals the designed system has good features of open architecture, modular design, flexibility, easy expansion, simple wiring, etc., and real-time network control will become the major approach in development of high-performance motion control system.