Research Of A Multi-axis Drive And Control Integrated System

Motion control and servo drive systems, which are the crucial components of factory automation, hold an irreplaceable position in manufacturing industry and have a significance to national economy. Nowadays, most multi-axis system, such as industrial robots and CNC machines, are using a distributed system architecture containing one main motion controller and several servo drivers. However, this architecture may suffer from system complexity and signal transmission problems, thus a new kind of multi-axis drive and control system is presented.This paper focuses on the development of a multi-axis drive and control system, including the circuit design, vector control and related IP implementation in FPGA and motor control software coding under Nios II.First a circuit scheme that support Ethernet communication and multi-axis drive and control is proposed. The communication part is based on an hardwired TCP/IP IC and drive part is based on IPM. DSP is used to handle data transfer and position loop computation work and FPGA is adopted to implement the feedback sample and motor control.Then the necessity of implementation of vector control on FPGA is discussend and the mathematical model of PMSM is analyzed. Vector control and SVPWM algorithm are introduced briefly. And the vector control algorithm is modeled tested under Matlab/DSP Builder.After that the communication protocol of absolute encoder and current sensing ADC,the PWM generation is analyzed. The corresponding IP(Intellectual Property) is realized and tested under ModelSim.Finally, the SoPC system contains Nios II is generated and the control software is coded and optimized. The test platform is constructed. Experiments on execution time, current loop and speed loop tests demonstrate the effectiveness and efficiency of the proposed system.