Design And Realization Of Motion-Control Card Based On MCU

With the development of the technology of numerical control, the open system of numerical control has become an important develop direction now. Motion control board, as an important part of the open system of numerical control, its study and development has also been paid much attention.Now, motion control cards with MCU and FPGA as the core are becoming the main trend of motion control. They can easily be plugged in PC to combine the information processing capabilities of PC with the motion control capabilities of motion control cards, which have the advantages of powerful information processing capability, strong motion control ability and good openness.Therefore, through deep investigating into motion control technology, a motion control card based on MCU with PCI interface was developed in the thesis.The points of this paper can be summed up as the following four main headings:(1) Based on the analysis and the reference to the movement control cards at home and abroad, the overall structure of hardware and software for movement control cards are put forward in accordance with the structured and modular design method, and the functions of each module are designed including PC, movement control CARDS, external bus, ac servo motor, I/O modules, and the function of each child module.(2) Combined with the trend of current motor control network and based on RTEX bus and the new network-servo motors panasonic A4N, a new motion control system structure which greatly improves communications speed and reduces attachment complexity is designed. (3) Combined with the features of the system structure and motion control, MCU, PCI bus communications chip, dual port memory, RTEX bus chip and serial chip which meet the requirements are chosen.Then the movement control cards circuit is designed , including two-port memory arbitration processing and serial channel selection, etc.(4) Based on the interruption and the timer, software architecture of the embedded system is constructed, including the control module, interrupt handling module and algorithm module.(5) According to the applications of movement control cards, position control, multi-axis CP, origin return and PTP control are designed. Function. Meanwhile, S form deceleration control algorithm is designed to improve flexible processing ability of movement control card.(6)The corresponding testing interface is developed to alidate system function and the correctness of the algorithm.The significance of this paper is described as follows.(1) Combined with the development trend of motion control technology, the open CNC framework is used to improve the system expansibility and maintainability.(2) By the way of RTEX network bus, wiring complex, easy interference, pulse frequency limit problem which exist in the traditional pulse control mode are solved. The speed of motion control can be higher, and the positioning can be more precise.(3) With the Application of MCU with high performance, real-time interpolation algorithm and S form deceleration control algorithm, the function, speed and performance of motion card have been greatly improved.The significance of this paper lies in exploring a set of motion control boards with the latest system architecture and the advanced control algorithm, in combination with the developing trend of motion control technology.