Based On The Rotating Shaft Of The Pci Bus Motion Controller

With the progress of the technology, it is difficult for the traditional Motion Control System to meet the demands of modern industry. Currently, it has been an important trend in the motion control field to develop the high-capability Motion Controller with open structure.KDMC-H, based on PCI Bus, a motion controller using DSP (ADSP-21061) and FPGA (EPF6016) to construct the core hardware, is discussed in this thesis. With the high speed DSP chipset, servo interval can be greatly decreased. Moreover, more complicated motion trajectory planning and advanced control algorithms can be implemented. The hardware design based on FPGA provides a highly integrated controller with good extensibility, and makes it convenient to develop and modify the internal structure of the controller.The thesis firstly introduces the origin, research significance, related technical status and main contents of the task, describes the system as a whole in detail, and puts emphasis upon the hardware design of the PCI Bus interface from chip selection, Register configuration to circuit design. Secondly, the design principle, method, compiling, installation and some noticeable problems during of the WDM Driver are discussed in Chapter 2 in detail. And the WDM Driver for motion controller based on PCI Bus that can read/write memory, I/O and handle interrupt is realized in this chapter. Then the dynamic coupling between the frames of the 3-axis rotary-table, which is one of the applied objects of motion controller, is analyzed theoretically in Chapter 4. And the mathematical model of the 3-axis rotary-table is obtained after rigorous derivation. On the basis of the model, decoupling research is done with the non-linear theory and eventually a linear model is got and simulated curve is given. Next, the design of disturbance observer for the rotary-table is introduced in Chapter 5. Finally, the paper ends with some perspectives on further research.