Hardware Design Of DSP-Based Four-Axis Motion Controller

To meet with the requirement of the parallel kinematic mechanism, thisdissertation investigates the key issues in the development of a novel MotionController systematically, for a high-speed, light-weighted and low cost parallelmanipulator. With the aid of computer technology, electric technology and controltheory, the following creative work has been completed. Based on a thorough analysis of the architecture of commercial motioncontrollers, the systematic scheme of the Motion Controller is proposed. Thehardware is separated into independent functional modules, and the functions ofeach module are designed. With the aid of hierarchical design methodology, the central control unit isconstructed in the master-slave mode. The hardware circuit is designedaccordingly, which greatly improves the control speed and enhance the controlability. The communication interface circuit design is also completed, together with theinterface program. Thus, the information can be transmitted between thecontroller and PC at high speed. Aiming at the control of servomotors, a motor control module is developed.Motor servo driver is used to drive the motor. As a result, a four-axis motioncontroller is developed, which lays a solid foundation for further research onhigh speed and high precise servo control methodology and advanced controlstrategy.