Multi-axis motion control platform of high efficiency

• Main Authors: Ming-Zhen Jiang, 江銘振
• Other Authors: none
• Format: Others
• Language: zh-TW
• Published: 2006
• Online Access: http://ndltd.ncl.edu.tw/handle/17762427153675166412

碩士 === 國立雲林科技大學 === 電機工程系碩士班 === 94 === This paper presents an automatic DSP-Based identification system for parameters, to validate the transfer function model of unknown system. The sinusoidal testing signal parameters, such as frequency range, amplitude and sampling period, are defined by the user. The testing signals enter the unknown system, and the frequency response collected at the output ports is analyzed based on the mathematical theorems. Finally, the parameters of the transfer function are identified. Therefore, there is no additional measuring equipment is needed to analyze the system dynamic model. The software is to develop a visualized module design of mathematical algorithm. The procedure is to design and simulate the control system under MATLAB and SIMULINK, and turn the control principle into C language through RTW (Run Time Workshop). Compile program used C-language compiler can generate real-time control program. The whole operation is accomplished under Windows circumstance.Besides, I also develop a unit of Multi-axis motion control platform of high efficiency(contain Motherboard、MOTION_AD_DA、MOTION_IO card) which estimate identification platform for parameters. The motion control platform certainly communicate with USB interface and PC , and can communicate with each other with PCI interface. I can insert a piece digital control card of C6713 and F2812 , which operate multi-axis motor control. Moreover, I discuss motion trajectory among point-to-point which include polynomial、S-curve、Linear and arc curves plan etc. The curve simulation in the follow trajectory motion compare with Linear、Newton、Lagrange、Hermite、Spline interpolation.