Research And Development Of Embedded Multi-axes Motion Controller

The motion controller is the core of the motion control system,and it has been used widely in many fields.Currently most of motion controllers on the market are motion control cards based on PC bus,which need be installed in PCI or ISA slot in the person computer,so these controllers depend on computers.The volume of the system used these controllers is too big to satisfy some application requirements.For solving these problems,this thesis puts forward the mode of "ARM+DSP motion controller" instead of the traditional mode of "PC+ motion control card",designs a kind of high performance,high reliability,low cost,small size and general purpose multi-axes embedded motion controller.The controller which is based on distributed structures can work in standalone mode based on embedded ARM processor and high performance DSP motion control chip.And this thesis introduces the software and hardware platform design of the controller in detail.The hardware structure of the multi-axes embedded motion controller includes two parts: the ARM control board and DSP motion control board,two pieces of circuit boards connect together through the CAN bus.Each DSP motion control board can control four servos simultaneously,and multiple DSP motion control boards can be appended into the system as CAN nodes conveniently to have much more axes controlled at the same time.The DSP motion control board is mainly comprised of DSP CPU TMS320F2812,which is the kernel of the board,and MAXII CPLD EPM1270.It realizes direct control to the electromotor.The kernel of ARM control board is the 32-bit embedded ARM CPU S3C44BOX with characteristics of high performance and low power consumption.And it is also equipped with the required peripheral modules to be a hardware system.ARM control board mainly realizes the function of the task management,data receiving and handling,man-machine interface management and arrangement for multiple servos motion.This thesis introduces the realizing method of main hardware modules in the DSP motion control board in detail,such as DSP minimal system,driver interface circuit,coder signal processing circuit and CAN bus interface circuit.And this thesis also introduces briefly main function modules in ARM control board,especially the realization of extended CAN communication module. The thesis makes a study of key technology in motion control,especially about location control arithmetic,speed up/down control arithmetic and coder signal processing method. And based on this,we develop the software system of the motion controller.We realize the base control function to servos in the DSP motion control board,such as trapezoid speed up/down control and closed-loop location control,by programming the main routine and interrupt service routines with the method of modularization.And this thesis also introduces the programming of the ARM control board,including the development of CAN driver based on embedded operating system VxWorks and the realization of motion control API function, which provides a convenient application interface to users for subsequent development of a practicable embedded multi-axes motion control system.In the end,the thesis builds a convenient debug platform,by the design of servo test run program and servo motion observation program.And based on the platform,system debugging and adjustment to the parameters of PID controller is carried out.It is proved from our testing that the performance of the system can reach our anticipation.