Open High-speed Motion Controller

The motion controller is the key of motion control system and has gotten the extensive application. Currently most of PC-based motion controllers on the market are embedded, which need be installed in PCI or ISA slot in the host computer, so these controllers depend on computers. The control systems used these controllers are too big to fulfill some application requirements. For resolving these problems, the main target of this thesis is to design a flexible and open motion controller, which can work in standalone mode or computer mode.There are nine chapters in this thesis.The first chapter discusses the current position of motion control technology and this study's reason and its research significance. Furthermore, explains the contents and research objective.The second chapter expatiates the hardware system design of the controller and the realization of its main circuit modules.The third chapter expounds the parameter management and the software design of touch panel in this motion controller.The forth chapter discusses the profile control and accelerate/decelerate control in motion control. Then it was detailed to deduce the decoupling recursive arc interpolation arithmetic, the linear and cubic spline accelerate/decelerate control law.The fifth chapter describes the design of USB firmware for EZ-USB chip.The sixth chapter discusses the USB WDM device driver program design using DriverStudio.The seventh chapter describes the design of DLL (Dynamic Link Library) program and application program.The eighth chapter describes and analyzes the result of test in 2-axis stepper test-bed and 2-axis servo test-bed.The last chapter gives a succinct statement to the whole thesis and prospects for the future in this field.Anyway, present study acquires certain breakthrough in both theory and practice. In theory, it gives the idea of realizing the touch panel communication and interface management. In practice, a hardware circuit design combined with DSP FPGA DDS USB and the hardware structure design of separating I/O board from main control board is well achieved and reached the design standard of product level.