Hardware And Software Design Of Motion Control System For Five Axis Solder Machine Based On FPGA

with the development of electronic technology,motion control system has made great progress.A number of domestic and foreign companies have introduced a number of motion control systems,and these motion control systems using PC plus motion controller control architecture.This system is not only cost is high,but not universal.In order to solve this problem,this paper developed a low cost,simple operation and special motion control system for five axis solder machine.Based on the requirements of the five axis solder machine,and combined with the practical application,the system adopts the control structure of the hand-held compiler and motion control card.Because the system must realize the control of the five step motor,in view of the real-time requirements,the system uses FPGA as the main control chip design.Making full use of the parallel execution ability of FPGA internal program to realize the cooperative work between five step motors.As the five axis solder machine is mainly used in the welding task is heavy,strong repeatability of the occasion,and has a certain degree of accuracy requirements.Therefore,the open-loop control system.The hardware platform of the system includes compiler and motion control card.The compiler is used to complete the editing,display and storage of the instruction and data.The motion control card is used for the analysis of the spatial trajectory and the output of the stepper motor control signal and the acquisition of the external digital signal.For this part of the hardware circuit design,the main hardware design requirements,the use of Protel99 se to complete the schematic design and PCB drawing.In view of the complex function of the five axis solder machine and the large amount of data processing.Construction of the subject adopts Altera FPGA processor Nios II core of the entire software system design,and the software program using Verilog language and C language.The system core part of the algorithm,based on the analysis of five axis trajectory soldering machine,as well as some of the interpolation algorithm and comparing the advantages and disadvantages,the interpolation algorithm of space line and circular arc point by point comparison method,through the Verilog language.This paper combined with the system of the five axis soldering machine requirements for the design and research work of the control system,completed the circuit design compiler and motion controller,and the design part of the program is based on the hardware,for the further research and laid the foundation.At the same time,the five axis solder control system based on FPGA is proved to be of practical value for industrial applications.