Research And Development Of Stage Axis Motion Controller Based On ARM

In stage control system areas, traditional control method has many shortcomings which arecaused by large quantity of the controlled object that droved by two motors and the controllayer installation space is narrow. Most traditional stage controllers use constant speed controlmode, whose control algorithm is relatively simple and ease to implement, but the controlaccuracy and the real time is low, so it is difficult to achieve the zero speed parking of theexecution motor. In many cases it is difficult to realize the control target.The stage axis controller is a relatively new concept, which integrates computer controltechnology, Ethernet communication technology, CAN bus communication technology andthe motor speed control technology, so it could realize the stage machinery accuratepositioning and variable speed control. The axis controller is easily to access the network viaEthernet interface. PC sends control information to the axis controller which processes thisinformation and sends frequency information to inverter. The stage equipment running trackis planed by motor trapezoidal velocity algorithm. According to the trapezoidal algorithmformulas to calculate the motor running speed value, and then discretize this speed value,finally sends this discrete data to inverter realize speed control, so as to achieve real-time,precise control of the purpose of the stage machinery.This paper uses the stage boom as the controlled object. An axis controller which couldachieve variable speed control for stage equipment has been researched and developed. Acombined configuration of lower acquisition module and upper controller was applied to theaxis controller. The host controller hardware is PC. The real-time tasks, such as he motioncondition monitoring, interactive interface, dynamic display software and so on are developedby VC++6.0. Lower machine uses an embedded Ethernet controller Cortex-M3core ARMprocessor chip STM32F107VCT6, and make STM32F107VCT6as the main processing unitto design CAN bus communication circuit, encoder feedback circuit and the Ethernet interfacecircuit. C language which is easy to transplant and code development is used to develop lowersoftware which complete trapezoidal velocity curve programming algorithm, IndustrialEthernet, CAN bus, I2C communication drivers, encoder signal high-speed processing andother tasks.In addition, this paper also highlighted the plight of the Ethernet communication betweenthe system module implementation processes, including the transmission of dataencapsulation process. The CANopen protocol design process and trapezoidal speed curvealgorithm planning process is detailed description.Finally, research and design process is summarized, and refinement and improvement isproposed.