Research And Implementation Of Motion Control Algorithm In Desktop Robot

With the development of electronic technology, automation control and computer applications, desktop robot motion control continuously toward high-precision, high speed, miniaturization, intelligence and general direction. Currently, digital signal processor (DSP) and field programmable motion control scheme logic gate array (FPGA) as the core has become the trend of motion control scheme. It combines powerful data computing power DSP and FPGA logic operations capabilities, with data processing capability, and strong scalability, versatility, and strong motion control performance characteristics. Based on the analysis basis for comparison of different hardware platforms, desktop robot motion control system design based on different algorithms is determined based on the algorithm design based on heterogeneous multicore. According to the characteristics of heterogeneous multi-core structure, analyzed and the desktop robot motion control algorithms task allocation strategy. It focused on the key technical points including interpolation algorithm, desktop robot motion control algorithms position and velocity planning algorithm, including the control of the core algorithm and the realization process.In terms of interpolation algorithm, two interpolation using DSP+FPGA, DSP software to achieve coarse interpolation, FPGA hardware fine interpolation, give full play to the performance of hardware and software to improve the efficiency of the interpolation; design and implementation of a linear plane and spatial interpolation complement and circular interpolation; polar coordinates system to step angle of the feed rate to achieve rough arc interpolation, circular interpolation is too simplified quadrant process.In terms of position control algorithm for vibration and strong impact desktop robot produced in high-speed, short stroke motion, the system may generate strong EMI characteristics. Proposed based on BP neural network disturbance rejection control of the desktop robot position servo control, improved accuracy and dynamic response of the position control, and has good anti-jamming capability.In terms of velocity planning algorithm, polynomial traditional T-shaped, S-shaped curve acceleration and deceleration large amount of calculation is not suited for desktop robot interpolation motion control of high-speed computing. Proposed acceleration and deceleration control based on the way the digital convolution avoided forecast deceleration point, reducing the amount of computation to improve the efficiency and speed to quickly achieve the planning, and the speed curve is smooth, suited for high-speed computing can greatly reduce the computational burden.In the design and implementation process, the fine interpolation module, position counting module, I/O signal processing, encoding feedback signal processing, module and a dual-port RAM functions such as control algorithms and S modules and trapezoidal-shaped speed digital convolution-based speed control algorithm using a single FPGA for hardware implementation. Using C language DSP F28M35 were achieved in the control algorithm based on time division crude interpolation algorithm to calculate the position and velocity data.Finally, based on Panasonic A5 series servo motor drives and servo motor test. The results show that the algorithm is designed in this paper is correct. This design of two precision interpolation algorithm and precision of only about fine interpolation; This design of position control algorithm has strong anti-interference ability and movement of position error control in less than um.