一、运动控制系统的组成

一个运动控制系统，通常由驱动器、控制器、传感器三部分组成。

1.控制器：

常见的运动控制器主要有:PLC(可编程逻辑控制器)、独立式运动控制器、运动控制卡、专用运动控制器等。

1） PLC

PLC主要功能是对开关量进行逻辑控制，并有简单的运动控制(直线轨迹控制)、运算数据处理等功能，通常采用触摸屏作人机界面。为扩充其应用领域，各厂家为客户提供了各种选配功能模块，如多轴运动控制模块、网络通信模块、模拟信号与数字信号转换模块等。PLC具有工作可靠、编程简单等优点，但其运动控制功能相对简单，若选用多轴运动控制模块，则价格较高。

2）独立式运动控制器

独立式运动控制器配有显示屏、按键和功能完善的控制指令，并有各种通信接口，控制电动机运动的能力比PLC强大。可完成直线插补、圆弧插补、轨迹控制等功能，且编程简单。目前，国外的运动控制器都具有现场总线控制功能。

3）PCI总线型运动控制卡

由于PC机运算速度快、存储量大，而且Windows操作系统的软件资源丰富，采用VB、VC等软件编写用户程序,功能十分强大。很多自动化设备都离不开PC机，特别是采用机器视觉检测的自动化设备、需要运行AuoCAD等大型软件的设备和需要采集存储生产数据的设备等，因此，这些设备采用基于PC机的PCI总线型运动控制卡与PC机一起组成运动控制器。在所有的运动控制器中，运动控制卡的功能最强，但其工作的稳定性可靠性较差。

4）专用运动控制器

专用运动控制器是针对特定的设备专门设计的运动控制器，如绣花机控制器、缝纫机控制器喷绘机控制器等。专用运动控制器通常以单片机、ARM等芯片为核心设计，其集成度高、价格便宜、使用方便，软件是为专用设备特殊设计的，客户可直接使用。其硬件、软件的设计都充分考虑了专用设备的工艺要求。

相对于专用运动控制器而言,PLC、独立式运动控制器、运动控制卡被称为通用运动控制器。

2.驱动器：

作为运动控制中的执行部件一般有电动式、 液压式及气动式三类。

电动式执行部件动作灵敏，性能优良，控制方便，且容易小型化，已经得到广泛的应用。运动控制中最常用的伺服电机类型有:直流(DC)伺服电机、无刷直流伺服电机、交流(AC)伺服电机和步进电机。按执行电机功率的不同，伺服电机可分为:小功率随动系统(100W以下)、中功率随动系统(100~ -500 W)和大功率随动系统(500W以上)。

JAPMC-PL2310-E

1. Composition of motion control system

A motion control system is usually composed of three parts: driver, controller and sensor.

1. Controller:

Common motion controllers are :PLC(programmable logic controller), independent motion controller, motion control card, special motion controller and so on.

1) PLC

The main function of PLC is to carry out logic control of the switching quantity, and has simple motion control (linear trajectory control), calculation data processing and other functions, usually using the touch screen as the man-machine interface. In order to expand its application field, the manufacturers provide customers with a variety of optional functional modules, such as multi-axis motion control module, network communication module, analog signal and digital signal conversion module. PLC has the advantages of reliable work and simple programming, but its motion control function is relatively simple, if the multi-axis motion control module is selected, the price is higher.

2) Independent motion controller

The independent motion controller is equipped with a display screen, keys and functional control instructions, and has a variety of communication interfaces, the ability to control motor movement is stronger than PLC. It can complete linear interpolation, arc interpolation, trajectory control and other functions, and the programming is simple. At present, all foreign motion controllers have fieldbus control function.

3) PCI bus motion control card

Due to the fast computing speed and large storage capacity of PC, and the rich software resources of Windows operating system, the use of VB, VC and other software to write user programs is very powerful. Many automation equipment is inseparable from the PC, especially the automation equipment using machine vision detection, the equipment that needs to run large software such as AuoCAD and the equipment that needs to collect and store production data, etc. Therefore, these devices use PC-based PCI bus motion control card and PC together to form a motion controller. In all the motion controllers, the motion control card has the strongest function, but its stability and reliability are poor.

4) Special motion controller

Special motion controller is a motion controller specially designed for specific equipment, such as embroidery machine controller, sewing machine controller inkjet controller, etc. The special motion controller is usually designed with single-chip microcomputer, ARM and other chips as the core, which has high integration, cheap price and easy to use. The software is specially designed for special equipment, and customers can use it directly. The design of hardware and software has fully considered the process requirements of special equipment.

Relative to the special motion controller,PLC, independent motion controller, motion control card is called universal motion controller.

2. Drive:

As an executive part of motion control, there are generally three types of electric, hydraulic and pneumatic.

The electrodynamic actuator has been widely used because of its sensitive action, excellent performance, convenient control and easy miniaturization. The most common types of servo motors used in motion control are: direct current (DC) servo motors, brushless DC servo motors, alternating current (AC) servo motors, and stepper motors. According to the power of the executing motor, the servo motor can be divided into: small power servo system (below 100W), medium power servo system (100~ -500W) and high power servo system (above 500W).