Research On Embedded And ReconfigurableCNC Motion Controller Based On ARM

The numerical control technology is the base of which manufacturing realizes theautomation, flexibility and integration of production, and also is the core of modernadvanced manufacturing technology, which plays a very important role in themechanical and electrical industry and the development of the national economy.Nowadays, as the rapid development of the microelectronics and computer technology,a large number of high performance embedded processors are used in the numericalcontrol system, which makes the development of the numerical control technologyinto the embedded CNC stage. Recently, the openness, modular and reconfigurabledesign method of the embedded CNC system is the research focus in the field of theCNC technology.First, stating from the background of the subject, the paper studied the currentsituation and development trend of the CNC technology, deeply discussed theembedded and reconfiguration technology and the application, and proposed to buildARM based embedded and reconfigurable CNC system on base of it, which used themaster-slave parallel double ARM controlling architecture of 32-bit ARM embeddedprocessor and motion control microcontroller STM32 + FPGA. The thesis mainlycompleted the hardware circuit design of the system, the realization of hardwaremodules, the commissioning, the algorithm realization of motion control based onFPGA and the construction of the embedded Linux numerical control system softwaredevelopment platform, etc. The main research topics in the paper were as follows:1、The motion control theory and methods, and the servo system control processand its structure were researched. And a mathematical modeling and simulation forthe mechanical feed drive system was made to be the theoretical basis for the furtherdevelopment of the CNC motion controller.2、The hardware circuit of ARM based embedded and reconfigurable CNCsystem was designed, which is divided into three parts: the master ARM processercircuit, the motion control circuit and dual-RAM communication between them.Modular design was used and every functional module could be cut and combinedaccording to different objects and machining needs and other conditions. And the IAPtechnology of STM32 and the ISP technology of FPGA were used to realize the reconfiguration of CNC system hardware and software.3、The realization of motion control modules by FPGA was studied. And hereevery module divided by motion control function was encapsulated into IP core, forwhich algorithms research and validation was made.4、The embedded Linux CNC system software development platform was build,and the boot program U-boot and operating system Linux were transplanted, and onthe base of which the development of CNC system software was carried out.