Research On Key Algorithms And Embedded Implementation Of Motion Control

As the core of the equipment control system, high-performance motion controller is widely used in numerical control equipment, robotic control system, and automatic detection, etc. With the rapid development of the microelectronics and digital signal processing technology, the embedded motion controller used DSP and FPGA as its main control unit has become the mainstream of development, and also a hot spot of embedded control research domestically and abroad.To develop a stable, highly reliable, feature-rich integrated high-performance motion controller, the motion control algorithm and key technologies of embedded motion controller are studied in this thesis. This work would be helpful for achieving the motion control of high-speed and high precision.The principle and process of common interpolation algorithm are studied in the thesis. Combined with modularization and component-based software design methodology, modeling and simulating of the algorithm are realized in Matlab○R . The trapezoidal and S curve velocity planning algorithm are studied in detail, especially the effort paid on the S curve velocity planning algorithm as well as the key technologies for the solution of the problems of impact and vibration in acceleration and deceleration motion process. According to the application requirements, the S curve velocity planning in the situation of changing the destination during the moving process is realized. The embedded motion controller's hardware scheme is proposed and the development of motion control function based on real-time multi-task system has been done adoption DSP/BIOS. The configuration and analysis of specific functional function threads made modularized of the algorithm more convenient in the motion control application. Applied DSP/BIOS real-time analysis tools, it is verified that the system operates in accordance with the design requirements. In addition, the device driver and function library for motion controller are developed, which give the motion controller a better open feature, in order to set up the motion control system quickly. Finally, the interpolation algorithm, velocity planning curves, multi-card synchronization and other aspects are tested on the motion control platform, consisting of the motion controller and servo unit. The experimental result shows that the motion controller developed has powerful function and high performance.The high-performance embedded motion controller implemented based on the research in this thesis, has already been applied to many control fields, such as processing equipment control, semiconductor detecting and so forth, with good prospects and social benefits.