Tms320f2812-based Multi-axis Motion Control System

Along with the modern technology's progress,the combination of each kind of e1ectric motor's control technology with the microelectronic technology and the power electronic technology is causing it to develop into a new technology,namely motion control technology. Along with the motion control technology's progress and perfection increasingly, the numerical control systems that were constituted by using microprocessor, FPGA/CPLD, general-purpose computer, and DSP controller and so on as these modern methods are developed fast. Applying the advanced algorithm to develop the open-style, high-performance, low-cost, general-type and embedded motion control systems will become the development direction of the new generation of the motion control design.It uses TMS320F2812 which is the electric motor special-purpose and high-performance 32-bit fixed point DSP chip as the control core, which is promoted by American TI Corporation, to complete the realization plan design of the whole motion control system. The motion control system's hardware architecture is showed in detail, and the control algorithm is also analyzed and designed. It completes the hardware design including the RS232 communication circuit, the clock circuit, the power circuit, the JTAG interface circuit, the signal level conversion interface circuit and the controllable subdivision Stepper motor driving circuit. For the motion control algorithm, it mainly studies the key technologies such as the interpolation algorithm and the speed control. It analyzes emphatically the space coordinates transformation and the data sampling interpolation algorithm, namely the time-splitting which is more suitable to the embedded platform application's spatial interpolation algorithm, and has made the improvement to the arc interpolation algorithm, then it increases the interpolation precision.On base of completing the design of the hardware circuit and the control algorithm, it does the simulation analysis and the hardware platform actual movement to the DSP control system. The data result confirms that the design plan is feasible and valid. The research has succeeded in the three-axis completely automatic dispensing robot, realizing the stable, fast, and the high accuracy dispensing work.