Design And Study Of 4-axes Embedded Motion Controller

The motion controller is the core of the motion control system, and it has beenused widely in many fields. Currently most of motion controllers on the market aremotion control cards based on PC bus, which need be installed in PCI or ISA slot inthe personal computer (PC), so these controllers depend on computers. The volumeof the system used these controllers is too big to satisfy some applicationrequirements. For solving these problems, this thesis puts forward the mode of"ARM+DSP motion controller" instead of the traditional mode of "PC+motioncontrol card", designs a kind of high performance, low cost, small size and generalpurpose 4-axes embedded motion controller. The controller can work in standalonemode based on embedded ARM processor, special DSP motion control chip andPC104 structure. And this thesis introduces the software and hardware platformdesign of the controller in detail.The hardware structure of 4-axes embedded motion controller includes twoparts: The ARM control board and DSP motion control board, two pieces of circuitboards connect together through the PC 104 bus. The kernel of ARM control board isthe 32-bit embedded ARM CPU S3C44B0X with characteristics of highperformance and low power consumption. And it is also equipped with the requiredperipheral modules to be a complete hardware system. ARM control board mainlyrealizes the function of the task manage, data receiving and handling, numericalcontrol instruction editing, I/O control, LCD display and the external equipmentscontrolling. The kernel of DSP motion control board is the DSP CPU MCX314As,which mainly realizes the function of real-time interpolation algorithm; outputtingpulse to control servo motor to carry on high-speed moving, and complete themotion control.Using the Protel 99 SE drawing software, this thesis designs the schematic andprinted circuit board (PCB) of 4-axes embedded motion controller, and makes thehardware circuit board. By debugging and validating each function of the hardwareplatform, the result of this hardware platform is dependable, which can provide good foundation for the software design in the next work.In the software design, this thesis introduces how to transplant uC/OS-Ⅱreal-time operating system (RTOS) into hardware platform, and discusses how towrite the system boot code. Then this thesis studies the method to operateMCX314As, designs each function of the 4-axes embedded motion controller,develops motion control API functions in order to meet the need of developingapplication software easily. Application program can be designed several kinds ofmotion control system that have special features by using the API functions library.In a word, the article has designed and made the hardware of 4-axes embeddedmotion controller, transplanted RTOS uC/OS-Ⅱinto hardware platform, developed amotion control API functions library, in addition to providing an embedded platformfor the subsequence development.