Based On The Multi-core Heterogeneous Research And Implementation Of Motion Controller

Along with the advantage of demographic dividend is abate,the increase of the labor cost,using artificial machine to replace labor has become the trend in manufacturing industry.The desktop robot is mainly applied to the replacement of labor-intensive construction,which is surely provide the fertile soil for it.This subject comes from the cooperation project with the research institute.By searching at the literature and design requirements,this paper compared and analysised the advantages and disadvantages of the different controller architectures,determine the design of hardware based on multicore heterogeneous motion controller.Comparing the advantages and disadvantages of separating ARM and DSP from silicon chip itegrated dual-core communication,the author select the dual-core heterogeneous processor OMAPL138 in oder to separate the ARM core and DSP core.Then,the author analyze general use of the subject and balance the load problem,FPGA adopts XC6SCX16 from Xilinx company.This paper focus on the hardware circuit of various parts of the motion controller.After this,the author complete the hardware circuit design,multi-core heterogeneous high-speed data communication.The hardware mainly includes power management module,the OMAPL138 peripheral ciruit,the FPGA peripheral circuit,the motor interface module and the external communication module.Multicore heterogeneous communication mainly involoves data communication between the ARM core,the DSP core and the FPGA core.The software design of ARM and DSP based on mutex variable long buffer,which is written by C language,then tested the communication of speed and correctness.The DSP core and FPGA core using u PP parallel interface,complete the DSP and FPGA u PP communication code,realization of DSP and FPGA high-speed communication.Finally,the application object for desktop soldering robots,the motion controller to carry on the overall test,and the test results shows that multi-core heterogeneous motion controller are better than the original controller of ascension,to meet the design requirements.