Research And Implementation Of DSP + FPGA Based Multi-axis Motion Controller

With the development of industrial automation, motion control technology related fields requirements continue to increase, making the motion controller has been continuously developed. Compared with some developed countries, on the development of the motion controller as well as a large gap. Multi-axis motion controller is used most of the country abroad, such as the US, Japan, and this is an important reason for domestic industrial production in high cost. Subject units need to develop a multi-axis motion controller, to replace now the Japanese multi-axis motion controller. Units around the needs of the subject and do some work in the following areas:(1) A review of the relevant literature multi-axis motion controller, determine the hardware design of multi-axis motion controller, using DSP + FPGA is subject to a heterogeneous multicore architecture, to design a multi-axis motion controller for multi-axis motion controller hardware modular design, complete the relevant circuit schematics, PCB map drawing and multi-axis motion controller hardware production;(2) For multi-axis motion controller in FPGA algorithm research. FPGA function is to achieve multi-axis motion controller interpolation algorithm ramping algorithm, compared to the existing algorithms and ramp interpolation algorithm, the choice of digital integration and five S-shaped acceleration and deceleration segment algorithm to achieve multi-axis motion controller The fine interpolation and ramp control, respectively deceleration module and fine interpolation module design to achieve a module board hardware emulation;(3) For multi-axis motion controller DSP algorithms in research. DSP function is to achieve synchronous multi-axis control, using an algorithm based on synchronous control adjacent coupling error PID algorithm, namely the PID algorithm and the adjacent coupling error of synchronous control stra tegy research, simulation model;(4) Build a multi-axis motion controller experimental platform, complete multi-axis motion controller hardware. The reliability of the output pulse interpolation algorithm by uniaxial experiment and S-curve acceleration and deceleration are designed to verify multi-axis motion controller.According to the simulation results, the multi-axis motion controllers and algorithms designed to achieve joint debugging software and hardware to verify the reasonableness of the effectiveness of multi-axis motion controller design and algorithms.