The Research And Implementation Of High Performance Motion Control System Based On Embedded Platform

Motion Control Technology(MCT) is a technology of controlling the motion real-time runs in the specified parameters as position, speed etc, runs according the route of preset curve. The development of MCT roots in the development of micro-electronics, power electronic, sensor, automatic control and microcomputer application technology. Adopted modern means of embedded system such as microprocessors, FPGA/CPLD, general-purpose computer and DSP, numerical control system is rapidly developed. Applied advanced algorithm, the open control system will become the head of new generation of motion control system design.During the research, through the overall survey of Open Numerical Control System(ONCS) and deep study of motion control technology, facing the behindhand actuality of research of domestic MCT, to meet the practical requirements of the liner motor system, following the developing trend of present MCT, drawing on the new production of the present ONCS and relating MCT, adopting the solution based on DSP and FPGA, object to liner motor, we have developed a high speed and high precision motion control system.In the paper, there are the following major contents:Firstly, made a deep thought in the goal of design and the characteristics of control-object, we build a motion control system framework is mostly made up of TI 32-bit float-point DSP TMS320C32 and Altera Flex lOklO FPGA. TMS320C32 is provided with high-speed and high-precision numeric processing performance, and Flex lOklO is of program flexibility.Secondly, we designed the module in detail around TMS320C32, the core of control system, such as external storage module, PC-DSP data switch module, D/A output module.And then, in allusion to the application of FPGA in the control system, we designed a position-detect module include 4-fold-frequency subdivision, direction-judgment, reversible counter, flip-latch access port, and a address decode circuit on Flex lOklO.Finally, to archive good real-time control performance and open softwarestructure, we ported real time operation system(RTOS) μC/OS-II. to the control system, also introduced the embedded software developed technology such as DSP boot loader, program FLASH in system.When the control system runs, PC transfers coordinate data of perfect curve to DSP through data switch module between DSP and PC. DSP calculates the errors between perfect position and actual position gets from position-detect module, disposes them by PID algorithm, and sends the numeric control value which is transformed by D/A into analogue signal to liner motion, and to archive position of closed-loop control for liner motor control.