Design Of Embedded Controller For Axes Motion Control

Processing performance of embedded processor is getting better and better.The embedded motion controller should not be positioned as processing low speed and low control accuracy.On the contracy,it can get flexiable design,implement high real-time,get high cost-effective,thereby enhancing the competitiveness of their products that designed with embedded platform.The main objective of this project is to establish a software program suitable for the application of multi axis motion controller,such as numerical control system and manipulator equipment control.Establish a low cost,safe motion controller infrastructure,software and hardware platform.The content involves the design of embedded hardware platform,embedded real-time operating system,the selection and use of embedded software design,the application of fieldbus technology,motion controller,motion velocity planning,instruction design and analysis,the functions of the controller design.Through the combination and application of these technologies,the design scheme of motion controller with high cost performance is realized,and the competitive power of the product is promoted.First of all,combining the application of the controller,industry requirements,performance requirements,and the wide application of embedded hardware and resource support,the selection of the core processor is carried out.This topic chooses the STM32F207IG processor of Cotex-M3 kernel.Secondly,we select open source and free FreeRTOS real-time operating system to design embedded software,and improve the scalability of the control system through transplantation and improvement.The work includes the division and design of tasks,the design of information interaction of tasks,and so on.Combined with the hardware and software features of the controller,the software architecture of the motion controller is established to meet the needs of the product's functions and application,so that the controller can be improved and enriched in the later stageThirdly,the multi axis motion control function is designed,including speed planning technology,high speed and high precision control of controlled object,stable operation,small impact and quick response.In the design of multi axis controller of this subject,the trapezoidal and S curve speed planning method is selected to ensure the trajectory precision and positioning accuracy,the process's stability and rapidity.The interpolation function is realized by software,and the functions of line interpolation and arc interpolation are realized.Finally,according to the controller's risk identification and analysis,the controller's security function is designed to improve the security and reliability of the controller.Some functional security measures are added from the software point of view to reduce the risk probability of the controller.Finally,according to the controller's risk identification and analysis,the controller's functional safety requirements are determined.Some functional safety measures are added in software,which can reduce the probability of occurrence of the controller and improve the safety and reliability of the controller.Through the above research and design,the design of embedded motion controller based on field bus is provided to realize the economical,extensible and safe motion controller.