Research And Implementation Of Key Techniques For Embedded Motion Controller

In recent years, information technology has penetrated into manufacturing industry, leading the trend of automatic, flexible and intelligentized manufacuturing. This research topic caters to the needs of industrial automation, aimed to develop motion controllers for a power battery assembly line. The assembly line consists of ten process stations, while a controller is the core component for each station. To assemble battery package efficiently and automatically, motion controller is supposed to control manipulator to grab, transport and integrate battery workpieces.Based on embedded architecture system, the motion controller combines an ARM microprocessor and a specific motion control chip-PCL6045 BL. For hardware design of the controller, the thought of functional polymerization and structural separation is adopted, to make the platform compact and reconfigurable. For software design, the modular and multi-task programming mode is proposed, ensuring the controller’s functionality and high performance. With integration of hardware and software, the motion controller possesses the ability to drive motors precisely in real-time. This thesis presents procedures of designing the controller and the way to solve the key technical problems.Firstly, the thesis manages to accomplish the core functions of motion controller, e.g. speed planning and path interpolation. In the paper, we analyze and realize how to accelerate and decelerate with linear and S-curve patterns. Internal mechanism of positioning operation and zero position operation is also revealed. Aiming at turning velocity smoothly according to transiting angle, vector transfer method is adopted, to smooth continuous interpolation paths. This method roots in motion vector and could improve motion efficiency and accuracy.Secondly, the paper builds up controller network based on CAN bus. Real-time concept for CAN bus is discussed, from the perspective of queuing system. By constructing a CAN bus model, we reveal the inner mechanism of transmission delay. In order to shorten transmission delay, time-triggered CAN bus is introduced and is used to replace CSMA/CA CAN bus. The TTCAN network for motion controllers is successfully built and put into use. The feedback effect indicates, TTCAN bus is better than standard CAN bus at reliability and real-time capability.Finally, functional units of motion controller are integrated to design applications for testing and result indicates the controller works well.