Research Of Open Motion-controller Base On Windows CE Operating System

Motion controller is one of the key components of the robot and NC system.With the high-end development of NC system and robot,the need for motion control system is also put forward higher and higher demands,research and development have the system flexibility,reusability,extensibility,software portability,secondary development,and other functions of high performance and the structure of the open movement controller is of great significance.Research situation of the paper through a comprehensive analysis of the motion controller and the design scheme,combined with the current embedded technology and the development trend of micro control processor technology,designed a model based on the WinCE system,making it easy for users to secondary development,in terms of hardware and software have open multi-axis motion controller.Paper's main work is as follows:1.According to the numerical control system function demand and open motion controller hierarchical design thought,this paper proposes a dual-core processor based on ARM + DSP + FPGA architecture of motion controller design scheme of software and hardware platform.With the ARM kernel run WinCE embedded operating system,is responsible for the movement of the motion control system application software and realize the human-computer interaction and task management function.DSP kernel to realize all kinds of interpolation operation and the classification of the motion control control instruction,parsing.FPGA is responsible for the results of interpolation arithmetic and control instruction is converted to a control signal,the output driver,and real-time operation state of each axis data,feedback to the control system.2.According to the scheme of hardware design and the functional requirements,selection of hardware and design of motion controller.According to modularization design idea,the control module,interface module,the hardware design,and the communication between the dual-core processor and FPGA were determined.3.According to the software design,completed the design of the layers of software.Proposes and implements a based on.net and dynamic link library technology motion controller secondary development scheme.And then adopt themethod of top-down divided into FPGA side each function module,and use verilog hardware description language for each module detailed design.4.Finally,this paper completed the design of motion controller library functions.In visual studio development environment,using c # programming language design of motion controller dynamic link library function and its encapsulation for the DLL file.At the same time,completed the basic function of the designed system test.