Design On Hardware System Of Reconfigurable Multi-Axis Motion Controller

In order to adapt to the rapid development of modern science and technology and keeppace with the growing trend that control system is upgraded rapidly and diversified, the opendesign of motion controller becomes inevitable. Taking multi-axis simulation turntable as thecontrolled object, this paper makes full use of the modularized design idea to researchthoroughly and devise the hardware structure of motion controller so as to develop amulti-axis motion controller which can be changed, reconstructed,transplanted and assembledaccording to actual requirements of the control system.First, the design philosophy of being reconfigurable and combinable, transportability andstandardization are put forward and the overall plan of the controller is designed at large.Using TMS320F2812chip as the core controlling CPU of this motion controller, the systemuses the open hardware structure of single core DSP and multi-module CPLD. Mechanicalconfiguration of the system adopts the pluggable multi-card form, which enables the systemto be configured flexibly by different card according to specific technical data andrequirement, and the modules on each board can be added or reduced according to the state offunction. The system in this paper consists of two parts: multi-axis turntable motion controllerand handheld monitor terminal. The handheld monitor terminal uses STC12C5A60S2—a lowpower consumptive single chip as the core processor, and can wirelessly or by wire monitorand control the motion controller according to communication protocol, including theanalyzing show of operation state data and configuration of relevant parameter of the system.Second, this paper delicately designs and analyzes the theory of the system’s hardware.The PCB circuit board of controller that this paper has finished contains two parts: bustransmission main board and each function card, and the former is responsible for the bus andpower supply transmission which can at most supply insert cassettes to15cards. System cardincludes: control center data processing card, external data communication card, encodercollection card, analog quantity output card, digital quantity input and output card, and systempower supply processing card, among which the control center data processing card itself is abiaxial and functional motion controller by combining the resource of DSP with chips ofhigh-speed optical coupling, level switch and high current drive gate circuit, etc..After that, the bus resource allocation of the controller and the design of software is introduced, which puts an emphasis on the introduction of software and algorithm design ofpower supply monitoring code signal collection and AD adjusting. And the design of FIRfilter of this controller is also introduced.At last, the system is processed, debugged and tested, and the result displays that eachcard of this controller system can function properly, satisfying the design principle andtechnical qualification. The controller with a novel and flexible structure can be assembledand reconstructed quickly.