Research On Embedded Multi-Axis Motion Control System

The new technologies lead to the appearance of the new generation of motion control system. In this article, we compare SCM with DSP in their architectures and operation speeds and design a motion controller based on the 16-bit fixed-point digital signal processor TMS320LF2407A, by which we realize the controls of eight axes of step-by-step motor or servo motor.First of all, we introduce the development, the framework and the situation of the research on motion control in details. And we bring forward the project of the design of the embedded motion control system based on the TMS320LF2407A.Secondly, we focus on the characters and the proceedings of the exploitation of DSP system. And the development, the architecture of DSP and the comparisons of DSP and SCM in their exploitation are discussed, which assure us to choose DSP to go along with our designs.Next, the article devotes to the hardware design of the embedded motion controller which based on the PC/104 bus. And in the design, we divide the complex system into several subsystems which have relatively independence in their functions according to the ways of the design of modularization. Then we go on with the designs of the subsystems, such as the module of power supply, the module of memory, the module of the communication between the motion controller based on DSP and the PC/104 bus through the dual-port static RAM and etc.Then, the software design of the embedded motion controller which based on the PC/104 bus is analyzed. And we consider the application of the means of the manage and scheduler of the real time multitask i.e. the real time kernel~uC/OS-II into the motion control system on the basis of the subdivision of the structure and the function of the system. Furthermore, we adopt the methods of software design of master and slave computer, and put forward the scheme of software design.Finally, the debug and the amelioration plans are discussed. We spare no effort to ensure the stability and reliability in the designs of the software, the hardware and the PCB. A conclusion of the research on embedded motion control system is given and the prospect of motion controller is presented in the end of this paper.