运动控制

Contouring motion control is one of the important topics in motion control research, which has been widely applied in motion control tasks in manufacturing and other automation systems.

轮廓运动控制是运动控制领域研究的重要课题之一，其广泛应用于精密机械加工与其它自动化运动控制系统中。

Contouring motion control is one of the important topics in motion control research,which has been widely applied in motion control tasks in CNC machine tool and other automation systems.

轮廓运动控制是运动控制领域研究的重要课题之一，其广泛应用于数控机床与其它自动化运动控制系统中。

Around the topic, the weak points of the traditional platform is analyzed first, such as complex arithmetic, long calculating time, high needs of hardware and so on. A real time control method based on virtual simulation is suggested to separate the complex positive/negative calculation of space kinematic and real time motion control. And a"3-2-1"type 6DOF platform is designed with the reference of the MAST (Multi-Axis Shaking Table) of MTS. The kinematic and dynamic calculation of the platform is finished. According to the calculating result, the control system of the"3-2-1"type 6DOF platform including 6 linear servo electric cylinders is designed and constructed. And the professional software Pro/E is used to do the 3D model and 6DOF motion simulation of the platform. The motion curves of the pistons of the 6 cylinders are exported with the simulation. At last the control software is programmed with Microsoft Visual Basic 6.0 and realizes the functions with the commands of GE series motion controllers. When loading the motion curves exported with the simulation, every cylinder can follow the curve very well and the platform realizes the hoped 6DOF motion.

围绕选题，本论文首先分析了传统的运动平台控制方法所存在的算法复杂、解算耗时长、硬件需求高的缺点，提出了一种基于虚拟仿真的实时控制方法，该方法将复杂的空间运动学正、反解与实时运动控制相分离；之后，参考MTS公司的MAST多轴振动平台，设计了新型的"3-2-1"型六自由度平台，并进行了运动学及动力学计算，根据相关计算结果，设计与搭建了包括驱动6个直线伺服电动缸在内的"3-2-1"型六自由度平台控制系统；接着，使用Pro/E对"3-2-1"型六自由度平台进行了三维建模和六自由度运动学仿真，并由仿真直接获得了6个直线伺服电动缸的活塞杆的相应运动曲线；最后使用Microsoft Visual Basic 6.0编写了控制软件界面，通过调用GE系列运动控制卡的各种命令函数实现了控制系统的相关功能，而当加载仿真得到的各缸运动曲线后，每缸均能很好地跟踪输入曲线，使平台实现了期望的多自由度运动。

At last, with the position/velocity servo control modes, the precise reciprocating motion of single coordinate flat roofs and continuous whirligig of platens are achieved.

首先分析永磁同步电机及其驱动器的位置／速度伺服控制模式，然后提出在同一个运动控制系统中应用多伺服控制模式的概念，最后，基于位置／速度伺服控制模式，实现了坐标平台的精确往返运动控制和滚筒的连续匀速旋转运动控制，同时介绍了系统的构成，并对系统参数作了详细分析。

It is of great significance for enhancing our electromechanical integration technology to develop motion controlling technology.

本文对运动控制技术和国内外在这方面的最新成果进行了深入研究，并详细论述了基于专用运动控制芯片的运动控制板卡的开发过程。

Regarding the computer embroidery machine for coordination motion control, two kinds of control thought are proposed; the motion control of principal axis motor、frame motor、color changing motor、line sheering motor and all part of coordination is realized.

对于电脑绣花机的运动部分的协调控制，提出了两种控制思想，实现了主轴运动、绣框运动、换色运动和剪线运动控制以及各部分的协调运动控制。

Application of PMAC time-base control in the NC machining of noncircular section parts;2. This system solved the problem about the motion s devolving, it is the applying of function of PMAC on accurate and time-base controlling that ensured the synchronization of motion.

为解决感应加热过程中传送运动系统的运动交接难的问题，开发了一种以PMAC运动控制器为核心的运动控制系统，利用PMAC卡运动控制的精确性和时基控制的同步性解决了控制运动的交接问题，经试验证明所开发的系统可以达到控制要求。

The control-strategies is discussed based on motion controlling model for used in crank press driven by varying speeds.

对其在变速压力机上应用的控制策略和运动控制模型的建立展开讨论，在此基础上，详细分析了变速压力机控制系统各环节的传递函数和控制方法，给出了系统运动控制软件框图。

In this system the motion controlling centers upon regulating the speed of wire feeding and movement of lead screw in each direction.Four motors separately drive the wire-feeding tape roll and the lead screw move respectively following their directions of X, Y, Z axis. If all the motors are controlled by 89C51 directly,it will rise great difficulty for software and hardware implementation. So the suggested solution is to combine the microcomputer with stepper motor driver and control of their motion.

在本系统中运动控制的关键即送丝与各丝杠移动的调节，由四个电机分别驱动X，Y，Z轴方向的丝杠行走以及送丝操作，运动控制部分如果用89C51直接驱动各电机则在软件和硬件实现上都比较困难的，所以选用单片机与步进电机驱动器结合起来控制它们的运动。

Researching automatic screen printer,this paper proposes a hardware architecture of motion control system of automatic leadfree screen printer based on PLC,completes software design of motion control system, introduce FSM thinking in the programmingprocess,not only simplifies programming,but also guarantees the stability and reliability of system effectively; solves the problem ofabsolute positioning when motor need switching frequency, guarantees operating speed and motion control accuracy of system.

以全自动锡膏印刷机为研究对象，提出了基于PLC的印刷机运动控制系统的硬件体系结构，完成了运动控制系统的软件设计，将状态机思想引入于PLC程序的编写中，不仅简化了编程，而且有效保证了系统的稳定性及可靠性；解决了电机需要切换倍频时的绝对位置定位问题，提高了系统的运行速度及运动控制精度。

However, as the name（read－only memory）implies, CD disks cannot be written onorchanged in any way.

然而，正如其名字所指出的那样，CD盘不能写，也不能用任何方式改变其内容。

Galvanizes steel pallet is mainly export which suits standard packing of European Union, the North America. galvanizes steel pallet is suitable to heavy rack. Pallet surface can design plate type, corrugated and the gap form, satisfies the different requirements.

镀锌钢托盘多用于出口，替代木托盘，免薰蒸，符合欧盟、北美各国对出口货物包装材料的法令要求；喷涂钢托盘适用于重载上货架之用，托盘表面根据需要制作成平板状、波纹状及间隔形式，满足不同的使用要求。