Research And Development Of Off-line 3-axis Motion Control System Based On DSP

Computerized Numerical Control(CNC)is high-tech in which CNC, motor driver technology, precision mechanical design and manufacture, and etc. are integrated. The main purpose of this dissertation is to research and develop a sort of high-powered motion control card based on CNC system.Motion control system is the important part of the robot control system. And motion control card is the core of motion control system. Motion control system of high performance develops from close structure to open structure. This dissertation focuses research on the design of the motion control card, which applies the DSP and FPGA technology in motion control over 3-axis machine, and using it to motion control system of numerical control welding robot. The ability of large capacity data-handling of the DSP and the feature of high integration and programmable of the FPGA help make the control system opener and more modularization. In consequence the robots would work flexibility and sensitivity.This paper provides the detailed design about the application of DSP and FPGA technology in motion control over 3-axis system. There are the following major contents: 1.Through the overall survey of Open Numerical Control System and Motion Control Card, and deep study of Motion Control Technology, we established the plan of the design of the motion control system based on DSP and FPGA as it requested. The paper introduces the hardware components and software design of the motion control card. 2. Several solutions are put forward to aim at some problems in the design of the motion control, such as speed controlling, high precision interpolation, and high capability of the DSP. They are all implemented in the DSP programming. For example: line and circle interpolation based on time division principle; the enhancement of precision and performance of the circle interpolation used in the fixed point DSP; process of uniform acceleration in speed controlling, and etc.;3.Because the control command is coming from the superior PC, a protocol is designed to compress the data, and to handle the error. This method guarantees the data communication highly effective and the accuracy.4.Finally, the control card is applied to a 3-axis CNC Numerical Controlled machine. The test experiment is performed and the test result is analyzed to perfect the system.5.In this paper, the innovation lies in the fact that off-line use of the controlling board can control the movement of CNC machine,which is more stable and reliable than the previous PC-based online control.