Design And Development Of Open Architecture Networked Motion Controller

With the development of motion control technology and the variety of control objects,people have more demanding requests towards the functions of motion controller.As the leading part of control system,updating the technology of traditional motion controller is of great importance.Therefore,there tend to be a certain motion controller with good openness,strong functionality and easy scalability,which is pretty competitive.Based on the research achievements of motion controller at home and abroad,an open networked motion controller is designed and developed.The main research work and achievements are as follows,1)At first,it analyzes of the functional requirement of motion control system;then,it combines the characteristics of the embedded system;what's more,it designs the main control chip STM32F407ZGT6 hardware architecture.In the end,it expounds the total control scheme of the system in detail and complete the motion controller hardware circuit design.2)In-depth analysis was carried out on the communication protocol of application layer specification CANopen,and apply CANopen to the system of motion control.So that CANopen communication protocol main motion controller and the transfer of data from the platform of the server can work well.Mainly use DS402 drive and motion control equipment agreement and the position mode control and interpolation control implement can be together.They are mainly used for multi-axis point motion and synchronous movement.3)To realize the synchronous movement,combine DS402 interpolation model and design the PVT movement patterns.Planning the trajectory for PC s speed can be a good fit repetition.In view of the synchronous movement of CANopen,communication designs the data synchronization control to enhance the multi-axis synchronization.4)According to the total control scheme of the system,the function of the motion controller software is designed.It includes the main program design,system initialization,communication processing of upper machine and the realization of the CANopen agreement on the establishment and movement of the main control program.Finally,it summarizes the research work,analysing the advantages and disadvantages of the controller and making the outlook for the further study of the motion controller.