The Research And Application Of Multi-axis Motion Controller Based On μC/OS-Ⅱ

The motion controller is the core of the motion control system, and it is applied very widely. With the rapid development of the computer technology, it is the mainstream to apply the operating system to the embedded system as a core of the software. A new method based on the design of a kind of real-time embedded operating system called μC/OS-Ⅱ is given in the area of the software design, so the stability of the motion controller can be improved as well as the reliability of that. And it will be more convenient to extend and maintain the motion controller.This thesis consists of seven chapters:The first chapter discusses the current position of motion control technology and the reason of this study and its research significance. Furthermore, the main contents and creative parts of this thesis are presented.The second chapter describes the whole scheme of the system which includes the whole hardware and software architecture, and the arithmetic of the motion control.The third chapter introduces the design of the hardware of the motion controller. Because this motion controller could control 4 axes and deal with the complex motion at the same time, the core of its hardware is DSP and FPGA. In this chapter, the realization of the main circuit modules is described in detail which is based on the core of the DSP and FPGA.The forth chapter discusses the interpolation arithmetic and gives the software flow. The motion control modes are also presented. And a kind of simple and practical method of the track planning is described which can satisfy the need of the project.The fifth chapter introduces the software design based on μC/OS- Ⅱ of the motion controller and FIFO is applied to solve the problems during debugging. All of this can improve the reliability and stability of the system and can also make the system extend and maintain easily.The sixth chapter discusses the emluator of the interpolation arithmetic and introduces the design of the PC software. Then the test of the manipulator is analyzed.The last chapter gives a succinct statement to the whole thesis and prospects for the future in this field.All in all. present study achieves certain breakthrough in both theory and practice. In theory, because the operating system is applied, the difficult points can be dismissed and the software design of the motion controller is simplified. Using the operating system, the motion controller can extend its function easily. In practice, this thesis is the part of the '863' project, and a hardware circuit design combined with DSP and FPGA is well achieved and reached the design standard of product level.