The Research And Application Of Embedded General Motion Control System

With the current development of embedded system technology and extensive application of high-performance processors, Embedded general motion control system is developing rapidly and widely applied, with its advantages like cost-effectiveness and high stability.In the "FPC Production Equipment" design project, it is required to control X/Y two-axis platform, rotary table, cylinder, probes, sensors, I/O system and so on. For this reason, an embedded general motion control system which is small, functional and easy-expended, is designed to meet the needs of a variety of motion control situations.In this project, the embedded control system utilizes ARM LPC2138 processor as the main processor, DSP TMS320LF2407A as motion processor, CPLD EPM570T144 as external digital signal auxiliary processing. The controller has a wide range of applications with low cost and short develop time. All the characteristics are fit for the current market trends.My research focuses on the following aspects:1. The embedded motion controller hardware system, which consists of three main chips, TMS320LF2407A, LPC2138, EPM570T144, are designed.2. The motion control algorithms based on TMS320LF2407A are developed, to implement trapezoidal acceleration control, S curve acceleration control and two-axis linkage control.3. In order to improve control efficiency of controller, with the help of CPLD's high-speed logic computing power, the efficient impulse transmit mode is designed, which improve the DSP processing speed.4. For the actual needs of the production process, single-step execution, loop execution, hand wheel control, automatic operation modes are developed to facilitate the needs of different occasions.5. A high efficient serial communication protocol is designed.