The Research And Development Of DSP And FPGA Based 4-Axis Motion Controller

With the development of miro-electronics, automatic control and computer science, motion control system becomes high-speed, high-precision, intelligence, miniaturization and generalization orientated. Currently, using PC as the platform, digital signal processor (DSP) and field programmable gate array (FPGA) based motion control card is the mainstream of motion controller. By combining the powerful information processing capability of PC and motion control ability of the motion controller, the motion control card features the merit, such as good generality, great openness, strong motion control ability etc.By means of conducting research on motion control technique and comparing different hardware based motion control system, a DSP and FPGA based 4-axis motion controller with PCI bus interface is developed and its control functions are tested.At first, the overall implementation scheme of the proposed motion controller is presented, then the details of its hardware design is discussed, including DSP and its peripheral circuits, peripheral circuits of FPGA, PCI bus interface circuit, the periphery expansion circuit and interface circuit etc.In order to enhance the integration and stability of the proposed motion controller, FPGA is used to realize the following functions:the PCI bus controller, hardware interpolation module, encoder feedback signal logic, I/O signal processing circuit, position counter and dual-port RAM etc.In addition, all the control algorithms, such as 3-axis linear interpolation & 2-axis circular interpolation based on time division scheme, S-curve & T-curve speed control algorithm and position error compensation method, are executed by DSP to ensure the high performance of the proposed motion controller.Using WinDriver EDA, PCI bus hardware driver is developed. The user application software on the PC is designed by using Visual Basic.At last, after the debug of hardware & software is completed, the proposed motion controller is used to control the Panasonic servo motor. As expected, the experimental results demenstrate the correctness & applicability of the proposed motion controller.