关键词: 运动控制系统, 网络控制, 网络延时, 多轴运动同步

Abstract: To realize the networking control for servo drivers with common pulse interface,a cascaded multi-axis motion control scheme was presented.In the scheme,3-port convertors were applied to perform the cascaded network connection and provide the control and feedback interface for servo drive equipments.To improve the motion synchronization accuracy of all actuators,a new multi-axis motion synchronization strategy for this cascaded motion control systems was put forward.By designing a compensation timer in 3-port convertor,the strategy overcame the harmful effects of network time delay on multi-axis motion synchronization .Network transmission experiments with industrial plastic optical fiber showed that signs added 120ns time delay when it passed through one network node.But if the synchronization strategy was employed,time jitter of motion sync pulses among all the servo nodes was reduced to less than 25ns.

Key words: motion control systems, network control, network delay, multi-axis motion synchronization