分类号分类号 学号学号 D201177491 学校代码学校代码 1 0 4 8 7 密级密级 博士学位论文博士学位论文 基于SoC的多轴运动控制系统及其 同步控制研究 基于SoC的多轴运动控制系统及其 同步控制研究 学位申请人：顾强学位申请人：顾强 学 科 专 业：控制科学与工程学 科 专 业：控制科学与工程 指 导 教 师：李叶松指 导 教 师：李叶松 教授教授 答 辩 日 期：答 辩 日 期：2015 年年 05 月月 28 日日 A Dissertation Submitted in Partial Fulfillment of the Requirements for the Degree of Doctor of Philosophy in Engineering Research on Synchronization for Multi-axis Motion Control Systems Based-on SoC Candidate : Qiang Gu Major : Control Science and Engineering Supervisor : Prof. Yesong Li Huazhong University of Science 591-596. 49 Kung, Y.-S.,Wang, M.-S.,Chuang, T.-Y. FPGA-based self-tuning PID controller using RBF neural network and its application in X-Y table. In IEEE International Symposium on Industrial Electronics (ISIE), 2009, 694-699. 50 Kung, Y.-S.,Fung, R.-F.,Tai, T.-Y. Realization of a motion control IC for XY table based on novel FPGA technology. IEEE Trans. Ind. Electron., 2009, 56 (1): 43-53. 51 Kung, Y.-S.,Wang, M.-S.,Yang, C.-Y. Realization of a motion control IC for electric-powered wheelchair. In 8th IEEE International Conference on Industrial Informatics (INDIN), 2010, 523-528. 52 Kung, Y.-S.,Huang, P.-H.,Su, F.-C., et al. Realization of an FPGA-based Motion control system for electric standing wheelchairs. In IEEE Symposium on Industrial Electronics and Applications (ISIEA), 2011, 47-52. 53 Kung, Y.-S.,Hsu, C.-T.,Chou, H.-H., et al. FPGA-realization of a motion control IC 华 中 科 技 大 学 博 士 学 位 论 文 华 中 科 技 大 学 博 士 学 位 论 文 122 for wafer-handling robot. In 8th IEEE International Conference on Industrial Informatics (INDIN) 2010, 493-498. 54 Kung, Y.-S.,Tsui, T.-W.,Shieh, N.-H. Design and implementation of a motion controller for XYZ table based on multiprocessor SoPC. In Chinese Control and Decision Conference (CCDC), 2009, 241-246. 55 Martinez-Prado, M.,Franco-Gasca, A.,Herrera-Ruiz, G., et al. Multi-axis motion controller for robotic applications implemented on an FPGA. Int. J. Adv. Manuf. Technol., 2013, 67 (9-12): 2367-2376. 56 Oldknow, K. D.,Yellowley, I. FPGA-based servo control and three-dimensional dynamic interpolation. IEEE/ASME Trans. Mechatron., 2005, 10 (1): 98-110. 57 Cho, J. U.,Le, Q. N.,Jeon, J. W. An FPGA-based multiple-axis motion control chip. IEEE Trans. Ind. Electron., 2009, 56 (3): 856-870. 58 Cirstea, M. N.,Dinu, A. A VHDL holistic modeling approach and FPGA implementation of a digital sensorless induction motor control scheme. IEEE Trans. Ind. Electron., 2007, 54 (4): 1853-1864. 59 Astarloa, A.,Lzaro, J.,Bidarte, U., et al. FPGA technology for multi-axis control systems. Mechatronics, 2009, 19 (2): 258-268. 60 Alecsa, B.,Cirstea, M. N.,Onea, A. Simulink modeling and design of an efficient hardware-constrained FPGA-based PMSM speed controller. IEEE Trans. Ind. Inf., 2012, 8 (3): 554-562. 61 Kung, Y.-S.,Quynh, N. V.,Huang, C.-C., et al. Design and simulation of adaptive speed control for SMO-based sensorless PMSM drive. In 4th International Conference on Intelligent and Advanced Systems (ICIAS), 2012, 439-444. 62 Chou, H.-H.,Kung, Y.-S.,Vu Quynh, N., et al. Optimized FPGA design, verification and implementation of a neuro-fuzzy controller for PMSM drives. Math. Comput. Simul., 2013, 90 (0): 28-44. 63 Kung, Y.-S.,Quynh, N. V.,Huang, C.-C., et al. Simulink/ModelSim co-simulation of sensorless PMSM speed controller. In IEEE Symposium on Industrial Electronics and Applications (ISIEA), 2011, 24-29. 64 Kung, Y.-S.,Hieu, N. T. Simulink/ModelSim co-simulation of sensorless PMSM speed controller using reduced-order extended Kalman filter. In IEEE International Symposium on Industrial Electronics (ISIE), 2012, 1405-1410. 65 Ben Salem, A. K.,Ben Othman, S.,Ben Saoud, S., et al. Servo drive system based on 华 中 科 技 大 学 博 士 学 位 论 文 华 中 科 技 大 学 博 士 学 位 论 文 123 programmable SoC architecture. In 35th Annual Conference of IEEE Industrial Electronics Society (IECON), 2009, 2961-2966. 66 Bahri, I.,Maalouf, A.,Idkhajine, L., et al. FPGA-based implementation of sensorless AC drive controllers for embedded electrical systems. In Symposium on Sensorless Control for Electrical Drives (SLED), 2011, 13-18. 67 Bahri, I.,Idkhajine, L.,Monmasson, E., et al. Hardware/software codesign guidelines for system on chip FPGA-based sensorless AC drive applications. IEEE Trans. Ind. Inf., 2013, 9 (4): 2165-2176. 68 Bahri, I.,Idkhajine, L.,Monmasson, E., et al. Optimal hardware/software partitioning of a system on chip FPGA-based sensorless AC drive current controller. Math. Comput. Simul., 2013, 90 145-161. 69 Koren, Y. Control of Machine Tools. J. Manuf. Sci. Eng., 1997, 119 (4B): 749-755. 70 Tang, L.,Landers, R. G. multiaxis contour control: the state of the art. IEEE Trans. Control Syst., 2013, 21 (6): 1997-2010. 71 Ramesh, R.,Mannan, M. A.,Poo, A. N. Tracking and contour error control in CNC servo systems. Int. J. Mach. Tools Manuf., 2005, 45 (3): 301-326. 72 Chiu, G. T. C.,Tomizuka, M. Contouring control of mac