The Design Of Embedded Software For Motion Controller Based On DSP

With the increasing of requirement for the efficiency and quality of the modernmanufacturing products, more and more motion controllers are used in industrialproduction. While the motion controller in domestic market is not universal enough, a lotof market is occupied by foreign brands. Developing an international standard based onmotion controller has important practical significance. This thesis has established thesoftware and made the foundation for subsequent product development at the same time.Firstly, this thesis analyzes the present motion controllers both in domestic andforeign brands through the study of the related literature. Then this thesis introduces thebuilding process of motion controller hardware platform based on DSP and the design ofmain board and the drive board. This Thesis completes the motion controller prototypebased on TMS320F28069, and introduces the modeling of the motion control processingbased on the motion model. This thesis briefly describes the embedded real-time operatingsystem, and selects μC/OS-II as the operating system of the motion controller. Themigration of embedded operating system μC/OS-II to the prototype machine is finished,and position modules are designed based on this platform. Three tasks which are related tothe motion control are designed and a serious of experiments are tested. This thesisverifies the correction of system migration and tasks design. Finally, this thesis analysisesa typical tapping machine cases which are combined with the location motion controllermodule. This thesis introduces the actual needs of tapping machine and establishes themodel of tapping machine spindle back to zero.This thesis completes prototyping and debugging based on the theory, eventuallycompletes the mathematical modeling and analysis combined with practical application.Through the study of this thesis, a motion control platform was established and anexperimental basis for the following research was provided.