Research On Independent Axis Programmable Motion Controller

Motion control by the early development of servo control, is a kind of speed and position of the moving parts of real-time precise control technology. Initially, the motion control technology is mainly used in the numerical control machine tool, used for processing various parts required, and poor generality, mostly single type machine custom development. Along with the advance of industrialization, the development of programmable motion controller has been gradually form of motion control board,witch was higher than before in the generality, the applicable scope is also more widely, in the printing industry, mechanical processing, industrial robot control and other fields have extensive application. With the constant progress of microelectronics technology, motion controller by the original industrial computer in combination with the form of motion control board to integration gradually, and the control precision and smooth degree also puts forward a new request. Based on ARM and FPGA architecture of motion controller can well meet the demand, outer ARM has rich resources and the operation of the high-speed frequency, can easily realize the man-machine interaction function, at the same time, the FPGA because of its strong ability of logic operation, can be used to realize the motion control algorithm.This system has designed a four axes motion controller based on ARM and FPGA architecture, and this system can realize linear and arc interpolation function, and support the C programming language for system customization, at the same time support the CAN field bus, in order to more easily applied in the industrial field.About hardware, the dual core motion control circuit was designed and realized based on ARM and FPGA which includes LCD and touch module, motor driver module, encoder feedback module, ARM and FPGA communication module, and model was made and debugging and verification was completed.In the algorithm design, realized the acceleration and deceleration of straight line and curve, linear interpolation and circular interpolation, and get through the test to verify its feasibility. This paper designs the circular arc interpolation and three-dimensional linear interpolation is an innovative, including Bresenham algorithm was applied in the circular arc interpolation, the three dimensional linear interpolation, this paper proposes a the interpolation method based on the minimum Angle calculation, to ensure the precision of interpolation.About software, the design includes the interface of man-machine interaction and the underlying drivers, ARM and FPGA serial communication program, the stepper motor linear and S curve acceleration and deceleration algorithm in FPGA, and control algorithm of interpolation motion of quad rotor. And a set of API control interface is designed, and user can develop and customize the practical program based on it and the practical motion.Experimental results show that the motion controller can steadily achieve acceleration and deceleration of straight line and S curve of the stepper motor and can conveniently realize interpolation motion of quad rotor, and the motion controller can be controlled to achieve the control of kinds of motions by the interface of man-machine interaction, and API interface can be conveniently developed and customized according to the practical applications.