The Research Of Multi-Axis Motion Controller Based On ARM

With the development of computer technology and manufacturing industry,motion control technology profoundly changed the traditional model of industry.Motion controller as the core part of motion control system, the paper through the establishment based on ARM embedded motion controller hardware and software platform, make it meet the high accuracy, low cost, high stability, open the controller to meet the large demand of the market.This paper choose to cutting machine motion controller as the research object,through comparing different motion controller design scheme, puts forward the embedded ARM processor as the core processor, FPGA for motion controller scheme from the processor and m μC/OS- II as a system design scheme of embedded real-time operating system. On the basis of completed the construction of the hardware platform, and the design of the peripheral circuit. The real-time operating system a μC/OS- II transplanted to ARM chips, and at the partition and design task modules. Internal generated by FPGA dual port RAM, completed the data between the ARM and FPGA, speaking, reading and writing. Select and use the model S deceleration control algorithm and the interpolation algorithm for the method of minimum deviation, completed the design of the linear and circular interpolation,control the contour curve. In order to more convenient and intuitive operation, the system at the same time including μC/GUI touch display is designed.This article will gives the μC/OS- II operating system migration process, and finished on ADS cross-compilation software operating system and graphical development system of the integration of transplantation. S deceleration was introduced in detail and the design scheme of minimum deviation interpolation method, and on the software QuartusII design completed interpolation module,simulation is conducted using Modelsim simulation software. Finally, respectively,the control system and programming method, has carried on the test and simulation,meet the design requirements.