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style="text-indent: 21pt;">, </span><span style="text-indent: 21pt; font-family: 宋体;">将控制终端连接到</span><span lang="EN-US" style="text-indent: 21pt;"><a href="http://www.bethel-cnc.com/" target="_blank"><span lang="EN-US" style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">数控机床</span></a></span><span style="text-indent: 21pt; font-family: 宋体;">的伺服电机控制器和脉冲编码器上</span><span lang="EN-US" style="text-indent: 21pt;">, </span><span style="text-indent: 21pt; font-family: 宋体;">实现对机床的控制</span><span lang="EN-US" style="text-indent: 21pt;">, </span><span style="text-indent: 21pt; font-family: 宋体;">用于测试数控产品。但是</span><span lang="EN-US" style="text-indent: 21pt;"><a href="http://www.bethel-cnc.com/" target="_blank"><span lang="EN-US" style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">数控机床</span></a></span><span style="text-indent: 21pt; font-family: 宋体;">类型复杂</span><span lang="EN-US" style="text-indent: 21pt;">, </span><span style="text-indent: 21pt; font-family: 宋体;">而且价格昂贵</span><span lang="EN-US" style="text-indent: 21pt;">, </span><span style="text-indent: 21pt; font-family: 宋体;">设备庞大</span><span lang="EN-US" style="text-indent: 21pt;">, </span><span style="text-indent: 21pt; font-family: 宋体;">不利于调试环境的搭建</span><span lang="EN-US" style="text-indent: 21pt;">, </span><span style="text-indent: 21pt; font-family: 宋体;">并且只支持空载测试</span><span lang="EN-US" style="text-indent: 21pt;">, </span><span style="text-indent: 21pt; font-family: 宋体;">同一时间内一套伺服系统只能对一台数控系统进行测试。为了提高测试效率、合理利用空间、节省生产成本</span><span lang="EN-US" style="text-indent: 21pt;">, </span><span style="text-indent: 21pt; font-family: 宋体;">提出了采用伺服电机模拟器来模拟真实现场环境实现对数控产品的测试。该伺服电机模拟器可以模拟带负载电机的运动特性</span><span lang="EN-US" style="text-indent: 21pt;">, </span><span style="text-indent: 21pt; font-family: 宋体;">并且可以实现长时间调试</span><span lang="EN-US" style="text-indent: 21pt;">, </span><span style="text-indent: 21pt; font-family: 宋体;">显示的速度曲线可以形象地表示出速度的变化情况</span><span lang="EN-US" style="text-indent: 21pt;">, </span><span style="text-indent: 21pt; font-family: 宋体;">提供了友好的人机界面。</span></p> <p class="MsoNormal" style="text-indent:21.0pt;mso-char-indent-count:2.0"><span lang="EN-US">2 </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">伺服系统工作原理</span></p> <p class="MsoNormal" style="text-indent:21.0pt;mso-char-indent-count:2.0"><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">伺服系统是使物体的位置、方位、状态等输出被控量能够跟随输入目标的任意变化而变化的自动控制系统</span><span lang="EN-US">, </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">即伺服系统是具有反馈的闭环自动控制系统</span><span lang="EN-US">[1,2]</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">。它由计算机数字控制系统、伺服驱动器、伺服电动机、速度和位置传感器等组成。计算机数字控制系统用来存储零件加工程序</span><span lang="EN-US">, </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">根据编码器反馈回来的信息进行各种插补运算和软件实时控制</span><span lang="EN-US">, </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">向各坐标轴的伺服驱动系统发出各种控制命令</span><span lang="EN-US">[3,4]</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">。伺服驱动器和伺服电动机接收到计算机数字控制系统的控制命令后</span><span lang="EN-US">, </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">对功率进行放大、变换与调控等处理</span><span lang="EN-US">, </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">能够快速平滑调节运动速度</span><span lang="EN-US">, </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">并能够精确地进行位置控制。</span></p> <p class="MsoNormal" style="text-indent:21.0pt;mso-char-indent-count:2.0"><span lang="EN-US">3 </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">伺服电机模拟器系统设计</span></p> <p class="MsoNormal" style="text-indent:21.0pt;mso-char-indent-count:2.0"><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">伺服电机模拟器分为两部分</span><span lang="EN-US">: </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">硬件板和软件模型。硬件板主要由</span><span lang="EN-US"> FPGA</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">和</span><span lang="EN-US"> AD</span><span style="font-family: 宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family:"Times New Roman"">器件构成</span><span lang="EN-US">, </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">接口为</span><span lang="EN-US"> ISA</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">总线</span><span lang="EN-US">, </span><span style="font-family: 宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family:"Times New Roman"">此硬件板要插在计算机的</span><span lang="EN-US"> ISA</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">总线插槽上</span><span lang="EN-US">, </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">和计算机中运行的软件模型相配合工作。其主要功能为完成</span><span lang="EN-US"> A/D</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">采样和脉冲频率的输出。软件模型运行在计算机中</span><span lang="EN-US">, </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">主要完成对伺服电机在各种情况下的模拟。</span></p> <p class="MsoNormal" style="text-indent:21.0pt;mso-char-indent-count:2.0"><span lang="EN-US">3.1 </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">硬件设计</span></p> <p class="MsoNormal" style="text-indent:21.0pt;mso-char-indent-count:2.0"><st1:chsdate year="1899" month="12" day="30" islunardate="False" isrocdate="False" w:st="on"><span lang="EN-US">3.1.1</span></st1:chsdate><span lang="EN-US"> </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">硬件接口</span></p> <p class="MsoNormal" style="text-indent:21.0pt;mso-char-indent-count:2.0"><span lang="EN-US">( 1)</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">模拟量输入</span><span lang="EN-US">: </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">共</span><span lang="EN-US"> 16 </span><span style="font-family: 宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family:"Times New Roman"">路。为正负</span><span lang="EN-US"> 10V</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">直流电压</span><span lang="EN-US">, </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">由数控产品输出</span><span lang="EN-US">, </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">用于控制伺服电机转速和转动方向</span><span lang="EN-US">;</span></p> <p class="MsoNormal" style="text-indent:21.0pt;mso-char-indent-count:2.0"><span lang="EN-US">( 2)</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">数字量输出</span><span lang="EN-US">: </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">共</span><span lang="EN-US"> 16 </span><span style="font-family: 宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family:"Times New Roman"">路</span><span lang="EN-US">, 48 </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">个输出点。一个直流量输入对应三个数字量输出</span><span lang="EN-US">: A</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">、</span><span lang="EN-US"> B</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">和</span><span lang="EN-US"> Z</span><span style="font-family: 宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family:"Times New Roman"">相的脉冲输出。这些输出用于模拟脉冲编码器的输出</span><span lang="EN-US">, A</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">、</span><span lang="EN-US"> B</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">相脉冲频率</span><span lang="EN-US">=</span><span style="font-family: 宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family:"Times New Roman"">编码器的线数×</span> <span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">转速</span><span lang="EN-US">, A</span><span style="font-family: 宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family:"Times New Roman"">相超前</span><span lang="EN-US"> B</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">相</span><span lang="EN-US"> 90 </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">度表示转动为正向</span><span lang="EN-US">, A</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">相落后</span><span lang="EN-US"> B</span><span style="font-family: 宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family:"Times New Roman"">相</span><span lang="EN-US"> 90 </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">度表示转动为反向</span><span lang="EN-US">, Z</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">相频率</span><span lang="EN-US">=</span><span style="font-family: 宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family:"Times New Roman"">转速</span><span lang="EN-US">;</span></p> <p class="MsoNormal" style="text-indent:21.0pt;mso-char-indent-count:2.0"><span lang="EN-US">( 3) ISA</span><span style="font-family:宋体;mso-ascii-font-family: "Times New Roman";mso-hansi-font-family:"Times New Roman"">总线接口</span><span lang="EN-US">: </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">完成硬件板和计算机的互联</span><span lang="EN-US">, </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">使计算机中运行模型的数据能够通过硬件板输出。</span> <span style="font-family:宋体; mso-ascii-font-family:"Times New Roman";mso-hansi-font-family:"Times New Roman"">硬件板提供</span><span lang="EN-US"> RAM</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">和寄存器。</span></p> <p class="MsoNormal" style="text-indent:21.0pt;mso-char-indent-count:2.0"><st1:chsdate year="1899" month="12" day="30" islunardate="False" isrocdate="False" w:st="on"><span lang="EN-US">3.1.2</span></st1:chsdate><span lang="EN-US"> </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">硬件功能分块</span></p> <p class="MsoNormal" style="text-indent:21.0pt;mso-char-indent-count:2.0"><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">硬件板上</span><span lang="EN-US"> FPGA</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">根据功能设计分为四个模块。分别是</span><span lang="EN-US"> ISA</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">接口模块、</span><span lang="EN-US"> AD</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">采样状态机模块、</span><span lang="EN-US"> RAM</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">模块和脉冲编码器模块。</span></p> <p class="MsoNormal" style="text-indent:21.0pt;mso-char-indent-count:2.0"><span lang="EN-US">( 1) ISA</span><span style="font-family:宋体;mso-ascii-font-family: "Times New Roman";mso-hansi-font-family:"Times New Roman"">接口模块</span><span lang="EN-US">: </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">完成</span><span lang="EN-US"> ISA</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">总线时序。</span></p> <p class="MsoNormal" style="text-indent:21.0pt;mso-char-indent-count:2.0"><span lang="EN-US"><img src="/upload/images/201407/14046350901112.jpg" alt="" /><br /> <!--[endif]--></span></p> <p class="MsoNormal" style="text-indent:21.0pt;mso-char-indent-count:2.0"><span lang="EN-US">( 2)AD</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">采样状态机模块</span><span lang="EN-US">: </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">完成</span><span lang="EN-US"> AD</span><span style="font-family: 宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family:"Times New Roman"">采样控制</span><span lang="EN-US">, </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">将采到的数据存入</span><span lang="EN-US"> RAM</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">中。状态机的一个采样周期设计为五个状态</span><span lang="EN-US">:</span></p> <p class="MsoNormal" style="text-indent:21.0pt;mso-char-indent-count:2.0"><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">①</span><span lang="EN-US">Init </span><span style="font-family: 宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family:"Times New Roman"">状态</span><span lang="EN-US">: </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">打开相应的选路通道</span><span lang="EN-US">; AD</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">读禁止</span><span lang="EN-US">; RAM</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">禁止</span><span lang="EN-US">;</span></p> <p class="MsoNormal" style="text-indent:21.0pt;mso-char-indent-count:2.0"><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">②</span><span lang="EN-US">Start </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">状态</span><span lang="EN-US">: </span><span style="font-family: 宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family:"Times New Roman"">启动</span><span lang="EN-US"> AD</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">转换数据</span><span lang="EN-US">; AD</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">读禁止</span><span lang="EN-US">; RAM</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">禁止</span><span lang="EN-US">;</span></p> <p class="MsoNormal" style="text-indent:21.0pt;mso-char-indent-count:2.0"><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">③</span><span lang="EN-US">Waiting</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">状态</span><span lang="EN-US">: </span><span style="font-family: 宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family:"Times New Roman"">等待转换结束信号</span><span lang="EN-US">, </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">若结束转到</span><span lang="EN-US"> Finish </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">状态</span><span lang="EN-US">, </span><span style="font-family: 宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family:"Times New Roman"">没结束</span><span lang="EN-US">, </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">则继续在本状态</span><span lang="EN-US">;</span></p> <p class="MsoNormal" style="text-indent:21.0pt;mso-char-indent-count:2.0"><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">④</span><span lang="EN-US">Finish </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">状态</span><span lang="EN-US">: </span><span style="font-family: 宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family:"Times New Roman"">关闭</span><span lang="EN-US"> AD</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">数据转换</span><span lang="EN-US">; AD</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">读允许</span><span lang="EN-US">; RAM</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">禁止</span><span lang="EN-US">;</span></p> <p class="MsoNormal" style="text-indent:21.0pt;mso-char-indent-count:2.0"><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">⑤</span><span lang="EN-US">Write </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">状态</span><span lang="EN-US">: </span><span style="font-family: 宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family:"Times New Roman"">关闭</span><span lang="EN-US"> AD</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">数据转换</span><span lang="EN-US">; AD</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">读允许</span><span lang="EN-US">; RAM</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">选通。</span></p> <p class="MsoNormal" style="text-indent:21.0pt;mso-char-indent-count:2.0"><span lang="EN-US"><img src="/upload/images/201407/14046351044106.jpg" alt="" /><br /> <!--[endif]--></span></p> <p class="MsoNormal" style="text-indent:21.0pt;mso-char-indent-count:2.0"><span lang="EN-US">( 3) RAM</span><span style="font-family:宋体;mso-ascii-font-family: "Times New Roman";mso-hansi-font-family:"Times New Roman"">模块</span><span lang="EN-US">: </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">存储</span><span lang="EN-US"> AD</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">采到的数据。</span><span lang="EN-US">RAM</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">为</span><span lang="EN-US"> 16 </span><span style="font-family: 宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family:"Times New Roman"">位×</span><span lang="EN-US"> 16 </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">个</span><span lang="EN-US">, </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">用于存储</span><span lang="EN-US"> A/D</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">采样后的</span><span lang="EN-US"> 16 </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">路直流量数据。寄存器有两类</span><span lang="EN-US">: </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">线数寄存器用于写线数值</span><span lang="EN-US">; </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">转速寄存器用于写转速值。</span></p> <p class="MsoNormal" style="text-indent:21.0pt;mso-char-indent-count:2.0"><span lang="EN-US">( 4)</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">脉冲编码器模块</span><span lang="EN-US">: </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">根据线数寄存器和转速寄存器中的值产生相应的</span><span lang="EN-US"> A</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">、</span><span lang="EN-US"> B</span><span style="font-family: 宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family:"Times New Roman"">和</span><span lang="EN-US"> Z</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">相脉冲。</span></p> <p class="MsoNormal" style="text-indent:21.0pt;mso-char-indent-count:2.0"><span lang="EN-US">3.2 </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">软件的设计与实现</span></p> <p class="MsoNormal" style="text-indent:21.0pt;mso-char-indent-count:2.0"><st1:chsdate year="1899" month="12" day="30" islunardate="False" isrocdate="False" w:st="on"><span lang="EN-US">3.2.1</span></st1:chsdate><span lang="EN-US"> </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">软件的设计</span></p> <p class="MsoNormal" style="text-indent:21.0pt;mso-char-indent-count:2.0"><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">伺服电机模拟器软件平台由</span><span lang="EN-US"> Linux- <st1:chsdate year="1899" month="12" day="30" islunardate="False" isrocdate="False" w:st="on">2.4.19</st1:chsdate>+MiniGUI- 1.3 </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">组成。伺服模拟卡接收来自</span><span lang="EN-US"> CNC</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">的模拟控制信号</span><span lang="EN-US">, </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">通过功率放大、</span> <span style="font-family:宋体;mso-ascii-font-family: "Times New Roman";mso-hansi-font-family:"Times New Roman"">变换、</span> <span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">调控后将其转换成数字信号</span><span lang="EN-US">, </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">工业主板接收从伺服模拟卡来的参数</span><span lang="EN-US">, </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">代入模型进行计算。伺服模拟卡接收来自工业主板的参数电机转速、</span> <span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">电机线速、</span> <span style="font-family:宋体;mso-ascii-font-family: "Times New Roman";mso-hansi-font-family:"Times New Roman"">位置等信息</span><span lang="EN-US">, </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">由伺服模拟卡将这些信息转换成</span><span lang="EN-US"> A</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">、</span><span lang="EN-US"> B</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">、</span><span lang="EN-US"> Z</span><span style="font-family: 宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family:"Times New Roman"">向编码器反馈脉冲给</span><span lang="EN-US"> CNC[5,6]</span><span style="font-family:宋体;mso-ascii-font-family: "Times New Roman";mso-hansi-font-family:"Times New Roman"">。伺服电机模拟器能够对伺服电机的运转状态提供逼真的仿真</span><span lang="EN-US">, </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">模拟真实的现场环境。现已用于蓝天数控系统</span><span lang="EN-US"> NC</span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">系列产品的检测工作。</span></p> <p class="MsoNormal" style="text-indent:21.0pt;mso-char-indent-count:2.0"><st1:chsdate year="1899" month="12" day="30" islunardate="False" isrocdate="False" w:st="on"><span lang="EN-US">3.2.2</span></st1:chsdate><span lang="EN-US"> </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">伺服电机模拟器的建模</span></p> <p class="MsoNormal" style="text-indent:21.0pt;mso-char-indent-count:2.0"><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">建模是指从非数学领域</span><span lang="EN-US">, </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">如来自日常生活、</span> <span style="font-family:宋体;mso-ascii-font-family: "Times New Roman";mso-hansi-font-family:"Times New Roman"">经济、</span> <span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">工程等学科中的问题</span><span lang="EN-US">, </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">通过对问题进行适当的假设</span><span lang="EN-US">, </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">研究其内在关系</span><span lang="EN-US">, </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">最终将问题抽象、</span> <span style="font-family:宋体;mso-ascii-font-family: "Times New Roman";mso-hansi-font-family:"Times New Roman"">转化成一个相应的数学问题</span><span lang="EN-US">[7] [8]</span><span style="font-family:宋体;mso-ascii-font-family: "Times New Roman";mso-hansi-font-family:"Times New Roman"">。建模的意义就在于通过建模</span><span lang="EN-US">, </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">可以准确给出各个因素对问题的影响程度</span><span lang="EN-US">, </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">得到最优的解决办法。伺服电机模拟器建模的提出</span><span lang="EN-US">, </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">主要是为了解决数控系统对伺服系统高速度运动、</span> <span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">高精度加工的要求。通过伺服电机模拟器的建模</span><span lang="EN-US">, </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">得出加减速因子和转动速度以达到高速和高精的平衡。问题假设</span><span lang="EN-US">: </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">忽略伺服控制器信号延迟</span><span lang="EN-US">; </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">伺服电机中的负载</span><span lang="EN-US">, </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">相电感</span><span lang="EN-US">, </span><span style="font-family: 宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family:"Times New Roman"">涡损</span><span lang="EN-US">, </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">磁损</span><span lang="EN-US">; </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">反电动势是正弦。</span></p> <p class="MsoNormal" style="text-indent:21.0pt;mso-char-indent-count:2.0"><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">由转子参考坐标电压方程</span><span lang="EN-US">; </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">磁链方程为</span><span lang="EN-US">; </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">电磁转矩方程</span><span lang="EN-US">; </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">电机运动方程</span><span lang="EN-US">; </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">机械角速度与电角速度的关系公式可推出</span><span lang="EN-US">:</span></p> <p class="MsoNormal" style="text-indent:21.0pt;mso-char-indent-count:2.0"><span lang="EN-US"><img src="/upload/images/201407/14046351249872.jpg" alt="" /><br /> <!--[endif]--></span></p> <p class="MsoNormal" style="text-indent:21.0pt;mso-char-indent-count:2.0"><span lang="EN-US"><img src="/upload/images/201407/14046351641541.jpg" alt="" /><br /> <!--[endif]--></span></p> <p class="MsoNormal" style="text-indent:21.0pt;mso-char-indent-count:2.0"><span lang="EN-US">4 </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">结束语</span></p> <p class="MsoNormal" style="text-indent:21.0pt;mso-char-indent-count:2.0"><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">伺服模拟器的各个参数是从各种不同种类的伺服电参数中抽取出来的</span><span lang="EN-US">, </span><span style="font-family:宋体;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">这一特性实现了对各种不同型号的伺电机的模拟。除此之外</span><span lang="EN-US">, 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list-border-w"> <div class="list-date"> <span>07</span> <p>2016-03</p> </div> <h4><a title="镗铣加工中心数控系统的硬件结构" href="/bethel/news/show_1451.html" target="_blank">镗铣加工中心数控系统的硬件结构</a></h4> <p>2.3镗铣加工中心数控系统的硬件结构 TX1600G镗铣加工中心是一种镗铣床复合式的数控机床，由于镗铣床共用一 个工作台，所以镗铣床不能同时工作，必须被分在两个轴组中，所以对其控制的 数控系统要有多通道多轴控制的能力。基于控制功能和稳定性要求，本加工中心 选用了 UMAC多轴运动… <a href="/bethel/news/show_1451.html" target="_blank">[了解更多]</a></p> </div> <div class="news-list list-border list-border-w"> <div class="list-date"> <span>06</span> <p>2016-03</p> </div> <h4><a title="开放式数控系统" href="/bethel/news/show_1448.html" target="_blank">开放式数控系统</a></h4> <p>1.3开放式数控系统 数字控制系统简称数控系统，是利用数字化信息并采用数字控制技术对生产 过程进行自动控制的系统，是控制数控机床的大脑 [11]。世界上第一台实验性 数控系统于1952年被研制出，它是由电子管和继电器组成，标志着第一代数控系 统的产生。随着电子技术的不断的发展，数… <a href="/bethel/news/show_1448.html" target="_blank">[了解更多]</a></p> </div> <div class="news-list list-border list-border-w"> <div class="list-date"> <span>02</span> <p>2016-02</p> </div> <h4><a title="伺服电机驱动器维修" href="/bethel/news/show_1363.html" target="_blank">伺服电机驱动器维修</a></h4> <p>伺服电机、伺服驱动器维修范围 伺服驱动 伺服电机 发那科 参数调整/系统升级/全面检修/配件更换/更换（详情请查阅：伺服电…… <a href="/bethel/news/show_1363.html" target="_blank">[了解更多]</a></p> </div> <div class="news-list list-border list-border-w"> <div class="list-date"> <span>02</span> <p>2016-02</p> </div> <h4><a title="西门子数控系统维修" href="/bethel/news/show_1362.html" target="_blank">西门子数控系统维修</a></h4> <p>西门子SINUMERIK?控制器维修范围 主板：显示功能、传输功能等 CPU板：启动功能、传输功能等 显卡：显示功能 电源…… <a href="/bethel/news/show_1362.html" target="_blank">[了解更多]</a></p> </div> <!-- 内容列表结束 --> </div> <!-- 相关文章结束 --> <!-- 页底推荐图文产品开始 --> <hr class="featurette-divider"> <!-- 页面标题开始 --> <div class="title"> <h3 class="wow bounceInDown" data-wow-delay="0.5s"><a href="/bethel/cnc">产品中心<small></small></a></h3> <span>——</span> </div> <!-- 页面标题结束 --> <div class="container"> <div class="blank30"></div> <!-- 中部开始 --> <div class="row"> <div class="col-xs-12 col-sm-3 col-md-3 col-lg-3"> <p></p> <p><a title="" 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