Design And Implementation Of Embedded Single-axis Controller

With the development of electronic science and technology, the performance ofservo control system has been greatly improved, especially in servo drives, mostlyusing a high-performance microprocessors and embedded real-time operating systemthat can provide additional resources to support complex functions implementation,which makes integrated axis controller and servo drives possible. In view of this, thepaper on how to integrate axis controller and servo drive together made some research,designed and implemented an embedded single-axis controller, which integrated themotion controller to servo drive, simplifying servo control system structure, increasingsystem flexibility, reducing production costs.Firstly proposed general design of the embedded single-axis controller. Thestructure contains interpreter, motion controller and servo driver, using reconfigurablecomponent technology for software architecture design and solving complex timingcontrol problems by embedded real-time operating system. Then completed the designand implementation of an interpreter, including the design and format of storage,instruction set design, etc. Designed and achieved a finite state machine to control theexecution of the interpreter. And then completed the design and implementation of themotion controller, which achieved a symmetrical linear acceleration and decelerationcontrol, and used the moving average filter technology to improve linear accelerationand deceleration, which got S-curve acceleration and deceleration algorithm. Finally,completed the test of the entire system, verified the feasibility and effectiveness of thedesign by the actual effect of the motion control.Paper-based Reconfigurable Servo Drive and embedded component technology,achieved a single-axis controller, which in line with intelligent servo drives, servocontrol unit integrated development trends, laid the foundation for the development ofembedded multi-axis controller.