Research On Dedicated Full Digital Multi-axis Motion Control System For Loom

Motion control technology is a comprehensive and interdisciplinary technology, which is promoting the new industrial revolution as the key technology, its development is the advancing melody of manufacturing automation. At present, motion control technology has developed open-ended internet,based on CAN bus and intelligent new motion controller,instead of facing the special traditional numerical control working industry technology, becoming the key technology to promote the new industrial revolution.This thesis according to the domestic and foreign current situation and the development of motion controller, in view of the domestic textile machinery industry needs, put forward using the combination of STM32and FPGA to design movement controller. Make full use of advanced function of STM32, such as high interrupt ability, short interrupt delay, fast response, and convenient fault interrupt handling and so on, combined with the FPGA parallel operation ability, to design a new type of multiaxial embedded controller. In axis motion controller, motion control algorithmic in FPGA is basically in the form of hardware processing, mainly realizes the data decoding and pretreatment、accelerating and decelerating of a system、interpolation and the position control and so on.That is,in the main processor of FPGA, Using the S acceleration and deceleration and a trapezoidal cceleration and deceleration to accelerate or decelerate of the system;Integration method is used to achieve the ratio of2-axis or3-axis linear and2axes circular interpolation,this method selects the location coordinates of a large shaft axis as the long axis, then the long axis can output even feed pulse, and the short axis output pulse according to the relationship between the long axis. This approach makes the design simple, and the output pulse is also uniform; Using cross coupling control to realize multi-axis linkage of collaborative when working together, reducing the contour error and increasing the accuracy of contour. Using incremental PID algorithm, achieves the position control. In addition, STM32processor mainly response for scheduling and software management work, including the human-computer interaction, U disk file read, SD card file access, extended function implementation such as external access circuit..In order to realize the multiple tasks handling and the real-time operation, the system transplantation real-time operating system (μ C/OS-Ⅱ)). In order to drive the hardware circuit in FPGA design movement control algorithm, in STM32the underlying drivers of the system functions are discussed. And give a detailed description and analysis of the definition and functions of low-level driver functions.Finally, the debugging of the whole system are analyzed, first, analyses the electromagnetic compatibility problems in hardware circuit in detail. Then it introduces motion controller application example, in the commissioning process, researches and analyses on the emergence of some system failure,and puts forward some effective solutions. The high processing capability of the FPGA ensures the high speed, high precision, high high real-time processing abilities of the motion controller. STM32has always been the leader in the field of control, coupled with coupled with the Cortex-M3core properties, provide a reliable guarantee for this system in real-time requirements. In addition, the system adopts modular and hierarchical design thought, FPGA program or C program is designed to encapsulate, improved system performance of portability and secondary development.