本研究對三軸控制之點到點運動以及循跡運動進行深入的探討。首先先針對運動控制及相關文獻做一簡單介紹,以使讀者有初步了解,接著探討運動控制之速度規劃理論,計有梯形加減速、S形加減速(S-Curve)和三次曲線加減速規劃等,推導三種速度規劃,分別在滿足最大速度、最大加速度與最大急衝度(Jerk)下所需之加速時間及總時間。 本研究為順利在三軸平台上實現了三軸同動之運動控制,並希望能實作出較傳統直線與圓弧插值法更複雜的曲線,使用了任意曲線插值法,該插值法對於處理傳統插值與複雜曲線插值均能獲得不錯的結果,其最大誤差可控制在1 內,而平均誤差則在0.1~0.2 間,藉由第四章的模擬與實作直線、圓及較複雜的螺旋線與空間S曲線的結果加以分析及討論,驗證了三軸同動之運動控制之可行性,並分析了應用三種速度規劃其個別的特性與適用性。 本研究設計出一套以AutoCAD內建之VBA語言所撰寫之人機操作介面,讓使用者可在AutoCAD上繪製加工圖形,當圖形設計完成後,經由AutoCAD之VBA呼叫C843控制卡之DLL來進一步控制PI平台,完成具有速度、加速度及急衝度限制之精密定位。
This study is investigating 3-Axis tracking motion on the basis of mode. At first , we will show a brief introduction of motion control and other references relative to the study , next make a study of several velocity profiles , trapezoid , 2nd –order S curve and single cubic-Spline included . Using three kind of velocity profiles to calculate the time of acceleration that satisfy maximum acceleration, velocity and Jerk . In this study , we use free curve interpolation to accomplish the 3 axis motion on the XYZ platform . The maximum error about 1um and average error is less than 1 m and average error between 0.1 and 0.2 m . This research uses the motion control card of the C-843 and XYZ platform of M511.DD and use VBA language in AutoCAD to compose, Let the user draw up the processing graph on AutoCAD. After the graph design, we can complete the precise localization with the speed and the acceleration limit by AutoCAD of VBA and the C843 control card and PI company. The theoretical simulation is first completed by using Matlab and then the result is proven by the experimental work by using the PI XYZ platform.