Design And Implementation Of Chip-Level Motion Control System Based On CMC

Motion control technology plays an indispensable role in CNC technology, robotics and industrial control. Currently, there are three main forms of motion control system:the standard computer bus-based motion control system, the soft open motion control systems and the embedded motion control system. Those three motion control systems, with their’s respective advantages of openness, stability and accuracy, made great contribution to the development and progress of motion control technology. However, these motion control systems can not satisfy the needs of the development of technology today in terms of cost, power consumption and integration, etc.This thesis proposes a chip-level motion control system solution based on CMC (Control Module on Chip) after in-depth study on system on chip. The motion control processor is attached to the AMBA bus through the AHB interface in the form of IP core, which makes motion control module integrated with central managing unit, input and output module and communication module on a single chip. This significantly reduces the complexity, cost and technical barriers of the system.In this thesis, the motion control system is designed based on the thought of modular design. MCP can work either as a master to read the instruction actively or as a slave to be operated by central managing unit by reading and writing the registers. The execution mode selection module takes charge of the selection of these two modes. In addition, the AHB master interface and AHB slave interface of MCP are designed to support it. Cache is designed in the execution mode selection module to support the instruction active reading. Interpolation function is implemented by digital differential analyzer to support the multi-axis motion. Left-shift normalization and half loading technology are used to improve the stability and precision of the interpolation. The motion control system proposed in this thesis can also support the single-axis control by operating reisters, which can’t be achieved by G-code. A 7-segment S-curve acceleration and deceleration algorithm is used to control the feed rate and acceleration and deceleration. MCP can also handle the interruption of pause, stop, start, in place, alarm, and line cross. The basic supporting software executing on CMC is developed and implemented based on the real-time operating system μC/OS-Ⅱ. The basic supporting software provides the management of configuration data and MCP task scheduling. Additionally, it provides the interface of single-axis control register operation.Simulation and platform test are provided in this thesis to validate the chip-level motion control system. The result shows the system can meet the requirements of motion control well. Therefore, the chip-level motion control system based on CMC can not only reach the goals of the system designing, but also has a great advantage on the aspects of complexity, cost and integration.