Design And Implementation Of HLS-based Multi-axis Control System

Multi-axis control system is currently one of the core system in industrial drives, aerospace, automated production machinery, mobile robots, 3D printing, electric vehicles, and so on? In order to satisfy the increasingly high control accuracy, system costs and other needs, academia and industry researchers have invested a lot of manpower and material costs to meet the evolving needs of the system. The goal of this thesis is to design a high-performance and low-cost multi-axis control system. By the help of efficient implementations and development tools, the goal that is to study the multi-axis control system hardware/software development and software design tools will be easy accessed.To achieve a high performance and low-cost multi-axis control system, this thesis designs multi-axis control system based on a heterogeneous multicore Zynq, which can get the combination between hardware and software. In order to achieve efficient and convenient hybrid hardware and software system development, this thesis presents a hardware and software system-level design flow which is based on high-level synthesis tools(HLS). By the help of HLS tools, the transformation of high-level description code such as C, C ++ to register level(RTL) description code can be easily getted.To achieve the presented multi-axis control system, this thesis will study the basic structure of Zynq at first, and then it divide the control system into software and hardware parts. Then on the basis of multi-axis control system's demand, this thesis also discusses the implementation of specific multi-axis control system experiment platform and hardware circuit. Then basis on the results of specific division of the control system, the detail of the algorithm modules designing, hardware and software configurations, specific chip development flows will be presented.After the completion of the system development, this thesis will discusse the performance of the control system, the synchronization of multi-axis with the help of some modules' test results. These tests and experimental results will illustrate that the multi-axis control system designed in this thesis is a high performance, low resource utilization and high synchronization control system, and it also has a convenient and efficient implementation flow. And the gived results of these experiments also verified that the design flow which is based on HLS tools presented in this thesis is available and efficient.