采用伺服电机的电子凸轮控制系统设计

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针对传统机械凸轮存在的难加工、易磨损、难维护的问题，采用伺服电机设计了电子凸轮先进控制系统。该系统硬件采用德国倍福伺服运动控制实验平台，由嵌入式PC、数字伺服驱动器、永磁同步伺服电机、滚珠丝杠直线平台等组成，控制系统采用位置环、速度环、电流环三环控制模式，根据内部虚拟主轴的位移和电子凸轮表插值计算出了从轴伺服电机的位置指令、速度指令，模拟实际凸轮轨迹实现滚珠丝杠直线往复运动，并在上升和下降阶段采用五次多项式作为插值函数，保证了速度曲线、加速度曲线存在且连续，提高了机构运动性能。实验结果表明，采用电子凸轮方案后，丝杠在位移精度和反应速度方面均能获得良好效果，可以把跟随误差控制在0．005mm内，证明采用电子凸轮代替原有机械直动推杆凸轮是可行的。 Aiming at the disadvantages of conventional mechanical cam：difficult to machine and maintenance, esay to wear, an advanced electronic-cam control system was designed. The electronic cam used BECKHOFF servo motion control experimental platform which consisted of embedded PC, digital servo drives, permanent magnet synchronous servo motor, ball screw linear platform and so on. A three-loop control mode （position loop, speed loop and current loop）was employed. The servo-motorls position and speed instructions were calculated to simulate the real cam＇s track by inner virtual shaft＇s displace and electronic-camPs table, which drive the ball screw move straightly back and forth. To ensure the existence and continuation of peed curve and acceleration curve, a five polynomial was adopted as interpolation function in the rising and falling phases, which improved kinematical performance. The experiment results indicate that when using the electronic cam plan, screw can get the position precisely, and react rapidly. Tracking error was controlled within 0.005 ram. It proves that using the electronic cam to replace the traditional mechanical cam is feasible.