The Design And Research Of Embedded Multi-axis Control System

Currently, embedded systems movement control card with PC as a platform hasbecome the mainstream of the development of the motion controller. It combines PCpowerful processing and the motion control ability of motion control card, so that theyhave the information processing ability, versatility, and high degree of openness, motioncontrol performance.This paper analyzed the structure of the marketing motion controller, put forward themotion control card based on DSP and FPGA as the core part of hardware and softwaredesign, which, DSP is responsible for movement control algorithm, data processing,FPGA for motor control.According to the hardware design of the motion control card, we design the entiresystem power supply circuit, clock circuit, JTAG interface, external expansion memory,motor control, communication interface, input and output interface and other modules. Inorder to improve the stability of the system, four-layer PCB board has hardware EMC andEMI design.This paper analyzes the speed of the S-type and trapezoidal-shaped curve ofacceleration, displacement and time relations motor acceleration and deceleration process;elaborates on point by point comparison of the two-axis linear circular interpolation, andsimulation using MATLAB; introduces servo closed-loop system PID control algorithms.the paper gives part of the API library, communication program, FPGA and DSPcommunication program, serial communication program, based on the DDS algorithm tocontrol the pulse motor pulse program, pre-estimated M/T method to measure the motorsteering and speed.Finally, We put up a platform to test the speed of the servo motor closed-loop controland draw an arc curve on coordinate platform.