Design Of Motion Controller Based On Cortex-M4and FPGA

Motion control card is the key equipment to achieving precision motion control. With the advances in microelectronic chip technology, motion control systems are moving towards to high information technology, open technology, open-source, and more integrated. More and more motion control cards have been widely used in various fields based on all kinds of new structure. A Four-axis digital and analog motion controller based on Cortex-M4and FPGA was designed in the article after detailed study.According to modular design plan, the motion controller functional goals and overall was designed at first, and then each functions were distribution to hardware and software modules, each module of the chip was selected, Motion control hardware and software issues involved in the process were in-depth analyzed and the solutions were proposed.STM32F407ZGT6和EP4CE10F17C8were selected as the main processor in the motion control card hardware. Four modules based on ARM were designed in hardware, there are interface module, memory module, configuration module, dual-core communication interface; Digital pulse output modules, analog modules, flag module, encoder receiver module and general I/O interface module based on FPGA were designed. Finally, the main considerations of drawn six layers PCB board were presented in the article.The control system framework is designed based on the developed hardware, and the μC/OS-Ⅱ operating system was embedded the into the ARM chip, formed a control module; To achieve motion control module in FPGA, Interpolation drive module, data loading module, DDA interpolation module were designed in Verilog HDL, and each module was simulated.The control card hardware and software debugging was completed, a test platform was built depending on the hardware and software features of the motion control card, Combined with PC control interface, drives, stepper motors, servo motors, a function test was completed. The results show that:Multi-axis position control of stepper motors and servo motors was achieved stabilized by motion control card, can meet most industrial occasions.