The Research Of Motion Controller System Based On DSP

With the development of modern industrial automation, the numerical control technology requirements rises continuous, this enabled motion control technology to become intelligence, miniaturization, networking and open. But at present, the motion controller based on DSP structure because of its strong information processing capability, is the mainstream of the motion controller. At the same time, the CAN bus which applies in industry widely makes the motion controller based on CAN possible. Therefore, the author of this thesis researches existing motion controller and the key technologies of motion controller in depth. A controller based on DSP is designed and FPGA is used in the system architecture as assist processing component. The communication between the upper machine and controller is CAN bus. Finally the performance of the motion controller is tested.First of all, by the research on the control technology, the whole hardware and software of the control system based on DSP is designed. Then bottom board based on FPGA of motion controller is designed, including DSP and FPGA interface circuit, the power supply circuit and FPGA periphery interface circuit. At the same time, motion control module based on FPGA also is designed.Secondly, this thesis studies the CAN bus communication mode. And CAN network communication structure is planed. The program of CAN is realized. In motion control technology, NURBS interpolation technology, PID control technology and new S-shape speed control technology is researched deeply, and the corresponding algorithm software is programmed.Finally, motion controller system experimental platform is established. The debug of the hardware and software of motion controller is completed. NURBS interpolation function and S-shape speed control function is verified by the experiments which demonstrates the function correctness and probability. And motion controller is used to drive the step motor and reaches the requirement of design.