| Now,more and more manufacturing industries are applied to servo systems,such as CNC machine tools,aerospace and robots,and other high-end precision fields,so servo systems have become one of the important indicators to measure the high-end technical level of my country.In the traditional AC servo system,the controller and the driver communicate with each other to realize data interaction,which has the problems of long interaction time,poor real-time performance,and weak anti-interference ability,which reduces the servo control efficiency.In order to solve the defects of the traditional servo system,the embedded PLC servo driver came into being due to its advantages of simple development,high performance and fast response speed.At the same time,there is a general problem of mechanical resonance in the servo system.In the servo tool holder system,in order to ensure the stable operation of the tool holder,the optimization of the system resonance is imminent.In this paper,Firstly,through the mathematical modeling of the servo motor,combining with the two-inertia model,the simulation model of the servo tool holder system is built,the resonance of the servo tool holder system is analyzed according to the control principle,and the resonance of the tool holder system is optimized by designing a double-T-notch filter.Secondly,based on the motion control standard of PLCopen,the firmware library of motion control algorithm is completed through the comprehensive study of motion control function blocks.Based on the eCLR core that complies with the IEC61131-3 standard,the embedded PLC core is developed.Based on the open source operating system core and communication protocol stack,the task scheduling and network communication of embedded PLC are realized.Finally,through the implementation of a sliding filter acceleration and deceleration control algorithm,combined with the motion control algorithm firmware library,the motion control function of the embedded PLC is completed.Finally,through the secondary development of the eCLR core,combined with the operating system core and communication protocol stack,and then based on the motion control firmware library,the driver’s embedded motion control PLC system is realized.Based on the double-T-notch filter,combined with the implemented motion control driver,the servo tool holder experiment was completed,and the effectiveness of resonance suppression,the smoothness of the acceleration and deceleration algorithm,and the practicality and advancement of the embedded PLC were verified. |
