The Research And Implementation Of A Motion Control Card Applying In Ocean Engineering

Motion control technology has been used widely in all kinds of fields. In the current markets, high-performance servo systems composed by servo motor and servo driver are provided by different manufacturers. In order to strengthen their products' capabilities and make their products convenient, companies are also developing the controllers according to the characteristics of their products. And it will increase the cost. In most cases, domestic servo systems are modeled in the position control pattern. In view of this situation, the common controller of our own not only can make users away from the constraints of the manufacturers, but also can make developers have wider choices in servo system.The State Key Laboratory of costal and offshore engineering in Dalian University of Technology is researching and developing wave machine. Based on wave machine, the subject of this program is to develop a motion control card based on PCI bus and FPGA, which is dedicated to four-axis motion control. Firstly, how to realize control card is planned and the system design is given in this article. Then according to the need of the design, the required devices are selected and hardware circuit is designed. By using Verilog HDL language, four-channel drivers control signal are generated to control the servo driver, and some abnormal signals in servo systems are dealt within this design. The feedback signals which are usually provided by servo system are handled for reference. Because of the high transportation speed of FPGA and PCI bus, high speed and high resolution in control system meet the requirements. Based on the hardware, the design completed a PCI bus driver based on Windows system. In the driver, there are functions such as reading and writing registers in the FPGA across the PCI bus and the PCI bus interrupt control. To facilitate the use of the card, a series of user interface functions are completed for the driver, and S-shaped curve acceleration and deceleration algorithms and arc interpolation algorithms are supplied.It is proved that controller's functions achieve the targets, by using SignalTap II embedded logic analyzer to test the program in the FPGA. The results of the S-shaped curve acceleration & deceleration algorithm and arc interpolation algorithm are given and the results show the algorithms with high accuracy.