1,RAU 2010运动控制基础,Hu Bin Commercial Engineer (Motion & ICM),(Confidential For Internal Use Only) Copyright 2007 Rockwell Automation, Inc. All rights reserved.,2,课程内容,1. 什么是运动控制系统,2. 运动控制产品,3. 设计和开发软件,4. 运动控制中的机电融合,(Confidential For Internal Use Only) Copyright 2007 Rockwell Automation, Inc. All rights reserved.,3,课程内容,1. 什么是运动控制系统,(Confidential For Internal Use Only) Copyright 2007 Rockwell Automation, Inc. All rights reserved.,4,什么是运动控制系统？,您可能会经常听到下面这些名词,Servo Motor伺服电机 Servo Drive驱动器 Actuator & Transmission Stage执行和传动机构 Motor Current电机电流 Motor Voltage电机电压 Motion Controller运动控制器 Motion Controller Software运动控制软件 Overtravel Switch行程限位 Home Switch回零 Brake抱闸,Load,Table,Movement,Positive Overtravel Limit Switch,Home Limit Switch,Negative Overtravel Limit Switch,Transmission Stage,Machinery,Motor with Feedback,Ballscrew,举例,(Confidential For Internal Use Only) Copyright 2007 Rockwell Automation, Inc. All rights reserved.,6,运动控制系统的硬件组成,各类控制器 单片机 运动控制器 PLC 工业PC,编程软件 伺服参数软件 接口网络 RS232/422/485 DeviceNet Sercos EtherNet,伺服电机 同步旋转电机 步进电机 直线电机 负载反馈 编码器 光栅尺,传动机构 同步带 减速机 链条 丝杠、导轨 ,驱动器 直流驱动 交流驱动 直接驱动,被移动的 机械设备,带反馈和运 动I/O的马达,马达驱动单元,智能控制器,编程和操作 接口软件,(Confidential For Internal Use Only) Copyright 2007 Rockwell Automation, Inc. All rights reserved.,7,伺服电机和反馈,负载,承载平台,运动,给定信号,电机电源,位置反馈,位置反馈,伺服 驱动器,运动控制器,正向行程限位,回零限位,反向行程限位,传动机构,机械设备,运控软件,丝杠,运动控制系统的组成,阴影部分说明了主要的运动控制系统的组成。通过这个简单的直线运动设备，我们将解释各个部分细节。,Actuators 执行机构 在这个例子中，将旋转运动转换成直线运动。典型的是滚珠丝杠。当电机旋转，丝杠的旋转会带动负载的移动。电机的旋转方向决定了负载移动的方向。 Transmission Stages 传动机构- 电机通常不直接和负载相连，而是通过传动机构连接，用来匹配之间的转速、惯量和扭矩的匹配。典型为同步带、齿轮等。,Load,Table,Movement,Positive Overtravel Limit Switch,Home Limit Switch,Negative Overtravel Limit Switch,Transmission Stage,Machinery,Motor with Feedback,Ballscrew,运动执行和传动机构,(Confidential For Internal Use Only) Copyright 2007 Rockwell Automation, Inc. All rights reserved.,9,Motor with Feedback,Command Signal,Motor Power,Position Feedback,Position Feedback,Servo Drive,Motion Controller,Motion Software,Servo Motors伺服电机 将电能转换成旋转运动。通常的伺服电机带有反馈装置，将位置值返回给运动控制系统。,伺服电机Servo Motor,(Confidential For Internal Use Only) Copyright 2007 Rockwell Automation, Inc. All rights reserved.,10,Motor with Feedback,Motor Power,Servo Drive,Servo Motor Feedback 伺服电机反馈设备通常安装在电机上，用来提供实际位置反馈给控制器，以确保位置精度。反馈类型的选择则取决于实际应用和用户需求。目前有很多不同的反馈检测技术和产品可供选择。,Feedback Types Encoders Absolute (Maintain Axis Position when power is lost) Incremental (Lose Axis Position when power is lost) Resolvers (very rugged) Stegmann Hyperface (Absolute Encoder with high resolution feedback),Position Feedback,Position Feedback To Motion Controller,伺服电机反馈的概念,(Confidential For Internal Use Only) Copyright 2007 Rockwell Automation, Inc. All rights reserved.,11,Mass,Motor with Feedback,Motor Power,Position Feedback,Servo Drive,Gravity,Motor Brake,Mechanical Brake Option,Vertical Application,伺服电机可以选择带有抱闸装置。例如在垂直负载应用中，为了防止在电机失电的情况下自由落体状况的发生。 通常，在抱闸线圈通电的时候，弹簧压紧，抱闸处于打开状态；而当电机失电，抱闸在弹簧作用下关闭，防止轴的坠落。 在其他需要的场合，也需要使用抱闸电机。,伺服电机抱闸的概念,(Confidential For Internal Use Only) Copyright 2007 Rockwell Automation, Inc. All rights reserved.,12,Motor with Feedback,Command Signal,Motor Power,Position Feedback,Position Feedback,Servo Drive,Motion Controller,Motion Software,Servo Drives 伺服驱动 接受运动控制器的指令信号，控制电机所提供的速度和扭矩（电流），要完成这些，驱动器需要将主进线电能转换成电机所需要的电压和电流，以完成营工控制要求。,Plant Power,伺服驱动Servo Drive,(Confidential For Internal Use Only) Copyright 2007 Rockwell Automation, Inc. All rights reserved.,13,Motor with Feedback,Motor Power ( 3 phase) Motor Current Motor Voltage 115VAC 230VAC 460VAC,Servo Drive,Servo Drives 伺服驱动 主要控制 2 个电机参数 Motor Current 电流(3-phase) 和电机输出扭矩成正比 Motor Voltage(3-phase) 和电机转速成正比,Typical Servo Drive Line Voltage 100-240VAC (Single Phase) 100-240VAC (3-Phase) 230-480VAC (3-Phase),伺服驱动Servo Drive,(Confidential For Internal Use Only) Copyright 2007 Rockwell Automation, Inc. All rights reserved.,14,Motor with Feedback,Command Signal,Motor Power,Position Feedback,Position Feedback,Servo Drive,Motion Controller,Motion Software,Motion Controller 运动控制器 是系统的大脑，主要有如下 3 个主要功能：,存储和执行运动程序 控制运动 存贮配置参数,运动控制器,(Confidential For Internal Use Only) Copyright 2007 Rockwell Automation, Inc. All rights reserved.,15,课程内容,2. 运动控制产品,16,单体伺服驱动解决方案,Index 运动解决方案,17,集成运动控制解决方案,IA Motion Differentiators 1) Single CPU (Logix) for PLC / Safety and Motion applications including Kinematics 2) Single programming package (RSLogix5000) (for PLC/Motion applications and also for all Logix controllers, Tag based addressing, Alias addressing and program data scoping, Auto creation of structures (easier to install / program / maintain) 3) SERCOS-simplifies wiring, more noise immunity, long controller to drive distance, easier diagnostics and maintenance, integration of drive parameters into RSLogix5K & NetLinx benefits 4) K2K/K6K Multi axis advantages: Less wiring / reduces i/p power components (reduces cost) common DC bus benefits including energy saving, Safety feat