基于PCI 和USB總線的開放式運(yùn)動控制器開發(fā)

摘   要
開放式數(shù)控系統(tǒng)已成為當(dāng)今數(shù)控技術(shù)的發(fā)展方向，目前的開放式數(shù)控系統(tǒng)多以PC機(jī)為基礎(chǔ)，配上各種開放式運(yùn)動控制器。運(yùn)動控制器的應(yīng)用已走出機(jī)械加工行業(yè)，越來越多地應(yīng)用于其它工業(yè)自動化設(shè)備控制，如機(jī)器人控制、電子機(jī)械、木工機(jī)械、紡織機(jī)械、印刷機(jī)械等諸多行業(yè)。
基于PC總線的以DSP和CPLD/FPGA作為核心處理器的開放式運(yùn)動控制器將PC機(jī)的信息處理能力和開放式的特點(diǎn)與運(yùn)動控制器的運(yùn)動軌跡控制能力有機(jī)地結(jié)合在一起，具有信息處理能力強(qiáng)、開放程度高、運(yùn)動軌跡控制準(zhǔn)確、通用性好等優(yōu)點(diǎn)，因此發(fā)展迅速。今后基于計算機(jī)標(biāo)準(zhǔn)總線的開放式運(yùn)動控制器仍然是市場發(fā)展的主流。PCI總線解決了ISA總線的響應(yīng)速度較慢的瓶頸，近幾年，基于USB總線的設(shè)備也因其優(yōu)點(diǎn)而得以迅速發(fā)展。
針對國內(nèi)外開放式運(yùn)動控制器存在的一些缺點(diǎn)，諸如國外產(chǎn)品價格太高、技術(shù)支持相對較差，國內(nèi)產(chǎn)品不支持USB總線、存在一些技術(shù)上的不足等，本文以DSP芯片TMS320LF2407作為處理器，分別基于PCI和USB總線開發(fā)了多軸開放式運(yùn)動控制器，并采用PCI 9052和ISP-1581作為接口芯片構(gòu)建PC-DSP通訊電路，利用CPLD器件EPM7128構(gòu)建兩路QEP信號處理電路并輔助完成譯碼等功能，同時開發(fā)了接口卡負(fù)責(zé)完成控制卡與外部器件的互聯(lián)并進(jìn)行光電隔離和電平轉(zhuǎn)換。
DSP除了完成與上位機(jī)的通訊，內(nèi)部還嵌入了許多控制算法，包括基于前饋補(bǔ)償?shù)腜ID控制算法、參數(shù)曲線的自適應(yīng)時間分割插補(bǔ)算法、直線/圓弧/NURBS插補(bǔ)算法等。同時，提供了豐富的動態(tài)鏈接庫函數(shù)供用戶調(diào)用，并在此基礎(chǔ)上開發(fā)了測試軟件。實(shí)驗(yàn)和仿真結(jié)果表明，系統(tǒng)設(shè)計合理，具有實(shí)時性好，跟隨誤差小，加工精確度高等優(yōu)點(diǎn)。

關(guān)鍵詞 開放式運(yùn)動控制器；USB 2.0協(xié)議；PCI總線；NURBS插補(bǔ)；DSP

Development of Open-Type Motion Controller Based on PCI and USB Bus              Abstract
The open-type numerical control system has become the development trend of NC technology nowadays, and the present NC systems are mainly based on PCs (personal computers) with various motion controllers. The application of motion controllers has extended out of the machine-processing field; more and more are applied in control of other industrial automation devices, such as robot control, electronic machinery, woodworking machinery, textile machinery, printing mechanism, and so on.
The open-type motion controller has developed rapidly, which uses DSP and CPLD/FPGA as core processors and combines the information-handling capacity and the open-type characteristic of PC with the controller’s motion path control ability, having many advantages such as strong information-handling capacity, good open-type characteristic, precise motion path, good versatility. From now on, the development of open-type motion controllers based on computer standard bus is still the market mainstream. The PCI bus solves the problem of low response velocity of ISA bus, and in recent years, equipments based on USB bus have also developed rapidly because of the merits of USB.
Aiming at the shortcomings of domestic and foreign open-type motion controllers, for example, the overseas product price is high, the technical support is relatively weak, and the domestic product does not support USB bus, existing some technical flaws. this thesis develops multi-axis motion controllers based on PCI bus and USB bus respectively with TMS320LF2407 as their processors. PCI 9052 and ISP-1581 chips are adopted to construct the PC-DSP communication channel; CPLD component EMP7128 is used to achieve the functions of two groups of QEP signal processing and address decoding; at the same time, the auxiliary I/O card is also developed to connect the controller and external components after photo-electricity isolation and level transformation.
Besides the communicating with PCs, the DSP has also been embedded many control algorithms, including the PID control algorithm with feed-forward compensation, the parameter curve auto-adapted time-division interpolation algorithm, the line/circle /NURBS interpolation algorithm, etc. A lot of dynamic link library functions are also provided for the users, and test software is developed with the functions. Experiment and simulation result indicates that the system is designed reasonably, with many advantages such as good real-time performance, little following error and high processing precision.

Key words open-type motion controller; USB 2.0 protocol; PCI bus; NURBS
interpolation; DSP
目    錄
摘要 I
Abstract II

第1章 緒論 1
1.1 開放式運(yùn)動控制技術(shù)概述 1
1.1.1 開放式數(shù)控系統(tǒng) 1
1.1.2 基于PC機(jī)的開放式運(yùn)動控制器 2
1.2 開放式運(yùn)動控制器研究現(xiàn)狀、不足及發(fā)展趨勢 4
1.2.1 運(yùn)動控制器的分類 4
1.2.2 國內(nèi)外開放式運(yùn)動控制器的研究現(xiàn)狀 5
1.2.3 目前基于PC的運(yùn)動控制器存在的不足 6
1.2.4 基于PC的開放式運(yùn)動控制器的發(fā)展趨勢 7
1.3 課題來源及主要研究內(nèi)容 8
第2章 伺服系統(tǒng)控制關(guān)鍵技術(shù)研究 9
2.1 運(yùn)動系統(tǒng)的控制技術(shù)概述 9
2.2 伺服電機(jī)控制原理 9
2.2.1 交流伺服電機(jī)介紹 9
2.2.2 交流伺服電機(jī)的控制模式 10
2.2.3 伺服電機(jī)的PID調(diào)節(jié)方案 11
2.3 參數(shù)曲線的時間分割插補(bǔ)算法 14
2.3.1 時間分割插補(bǔ)原理 14
2.3.2 參數(shù)曲線自適應(yīng)插補(bǔ)算法 14
2.4 NURBS插補(bǔ)原理 17
2.4.1 NURBS插補(bǔ)介紹 17
2.4.2 三次NURBS曲線的數(shù)學(xué)描述 17
2.4.3 NURBS曲線插值原理 19
2.5 本章小結(jié) 21
第3章 PCI和USB總線規(guī)范與操作 22
3.1 PCI總線 22
3.1.1 PCI總線的基本概念 22
3.1.2 PCI總線的特點(diǎn) 22
3.1.3 PCI局部總線信號定義 23
3.1.4 PCI總線協(xié)議基礎(chǔ) 24
3.2 USB總線 27
3.2.1 USB的優(yōu)點(diǎn) 27
3.2.2 USB系統(tǒng)的分層結(jié)構(gòu) 27
3.2.3 USB數(shù)據(jù)通訊結(jié)構(gòu) 29
3.2.4 USB的控制傳輸與中斷傳輸 30
3.2.5 USB軟件編程基礎(chǔ) 33
3.3 本章小結(jié) 34
第4章 PC機(jī)與DSP通訊電路設(shè)計 35
4.1 運(yùn)動控制器硬件電路總體設(shè)計方案 35
4.2 DSP 芯片TMS320LF2407介紹 36
4.3 PCI總線與DSP通訊電路設(shè)計 37
4.3.1 PCI總線接口電路實(shí)現(xiàn)方法 37
4.3.2 PCI總線接口芯片選擇 38
4.3.3 PCI 9052的主要特點(diǎn) 38
4.3.4 PCI 9052的工作原理 39
4.3.5 E2PROM的配置 40
4.3.6 PCI-DSP通訊電路 41
4.4 USB總線與DSP通訊電路設(shè)計 43
4.4.1 USB接口芯片選擇 43
4.4.2 ISP-1581的特性 43
4.4.3 ISP-1581的引腳介紹 44
4.4.4 ISP-1581相關(guān)寄存器簡介 45
4.4.5 USB-DSP通訊電路設(shè)計 47
4.5 本章小結(jié) 48
第5章 運(yùn)動控制器硬件電路設(shè)計 49
5.1 DSP輔助電路 49
5.1.1 JTAG測試接口電路 49
5.1.2 供電電路 50
5.1.3 時鐘電路 50
5.2 存儲器擴(kuò)展電路 51
5.3 控制電壓轉(zhuǎn)換電路 51
5.4 CPLD處理電路 52
5.4.1 地址譯碼 53
5.4.2 正交編碼脈沖處理及計數(shù) 53
5.4.3 中斷邏輯 56
5.5 接口卡電路分析 56
5.5.1 差分信號處理電路 56
5.5.2 輸入輸出信號處理電路 57
5.6 運(yùn)動控制器硬件開放性的實(shí)現(xiàn) 59
5.7 本章小結(jié) 59
第6章 運(yùn)動控制器軟件開發(fā)及調(diào)試 60
6.1 控制器軟件開發(fā)概述 60
6.2 DSP底層程序開發(fā) 60
6.2.1 USB控制器的固件（Firmware）編程 61
6.2.2 DSP核心程序 64
6.3 設(shè)備驅(qū)動程序開發(fā) 69
6.4 動態(tài)鏈接庫函數(shù)開發(fā) 70
6.4.1 動態(tài)鏈接庫函數(shù)及其優(yōu)點(diǎn) 70
6.4.2 動態(tài)鏈接庫的設(shè)計 71
6.4.3 用DLL實(shí)現(xiàn)運(yùn)動控制器的開放式功能 72
6.5 測試軟件開發(fā) 73
6.6 本章小結(jié) 76
結(jié)論 77
參考文獻(xiàn) 78
致謝 82