The Design And Implementation Of Multi-axis Motion Controller Based On Ethernet PowerLink

With the development of modern industrial automation,industrial control field request higher and higher about real-time and control accuracy of performance of motion control system.As the core component of the motion control system,the development level of the motion controller will directly affect the performance of the motion control system.The traditional motion control system based on field bus technology has become increasingly unable to meet the requirements of today’s industrial control field.Industrial Ethernet technology has the advantages of high real-time performance,high communication rate and good openness,so it plays a more and more important role in the field of industrial control. As a typical representative of the industrial Ethernet.PowerLink protocol is open source and the platform is not limited by the professional chip,so it has a strong application prospects in the field of industrial control.Based on the in-depth study of the PowerLink Ethernet communication protocol and the traditional motion controller,this dissertation designs and implements a multi-axis motion controller based on PowerLink Ethernet.Firstly,design and implementation the hardware circuit of Ethernet Power link communication and a multi-axis motion controller based on the Altera’s FPGA chip EP4CE22F17C8N,including a Powerlink master circuit and a multi-axis motion controller circuits.Secondly.I deeply study the system composition.communication mode,protocol specification and implementation method of PowerLink,and realized PowerLink speed real-time Ethernet communication based on the FPGA.Thirdly,I write the logic of multi-axis motion controller in FPGA use hardware description language based on the study of the traditional multi-axis motion controller and FPGA.Finally,In order to test the motion controller designed in this dissertation.1 set up a multi-axis motion control system under laboratory conditions,and design experimental to test the motion controller from the network communication, single axis servo control, two axis interpolation control and multi-axis synchronous control.The test results show that the multi-axis motion controller based on Ethernet PowerLink can meet the requirements of various functions and performance,and the feasibility of the design is verified.