The Research On Open Motion Controller And Interpolation Technology

With the rapid development of microelectronics technology and computertechnology, motion control system has been developing in the direction ofgeneralization, intelligence and miniaturization. In terms of the data processingcapabilities of DSP and the programmable virtues of FPGA，motion controller basedon DSP and FPGA technology has been becoming the main trend of motion controlsystem.The paper begins with the analysis of the present status of motion controller andthe virtues of the motion controller open structure, and then reach the conclusions ofthe advantages and disadvantages of varied solutions according to the specificrequirements. At last, the 4-axis motion controller is developed based on DSP andFPGA with a certain degree of openness in hardware and software, and can also beused as the platform for the secondary development as well. In terms of modulardesign method, the motion controller includes four layers: the application layer, thefunction layer, the driver layer, and the hardware layer, which provides a certaindegree of openness and can also shorten the period of develepment of a new product.Firstly, the software and hardware system of the whole plan is maked outaccording to the specific requirements of motion controller and the OSEC architecture.And then the paper discuss the characteristics of the system with open structure.Secondly, the paper provides the hardware system of the motion controller.TMS320F2812 works as the core control chip while EP2C5T144C8 works as thecomplementary chip. Then the paper provides the principles of small parts and theschedule circuits, including power supply system, clock system and communicationsystem. In FPGA module, functional modules are divided based on top-to-downmethod and are designed in Verilog hardware description language which provecorrect with simulation, including encoder detexction module, pulse generatingmodule.Thirdly, the paper provides the software system, including CMD configurationfiles, interface registers of FPGA, the main program of DSP, the implementation ofthe function layer and the driver layer.In addition, the paper analyses the key technology used in the system. The paper provides interpolation algorithm and the relevant software flow pattern, and thenanalyses the implementation of filter based on distributed arithmetic in which weemphasis on the decrease of hardware resource to enchance the systerm speed withthe introduce of distributed arithmeticAt last, the paper provides the debugging of the whole system while thedebugging proves good performance.