Design And Development Of Numerical Control System Of Embedded Motion Controller Based On ARM

Along with the application of numerical control system at home and abroad more and more widely,the cost of the numerical control system is more and more popular.The high performance digital motion control system is generally the price is higher,and the processing core basic by DSP and FPGA technology such as monopoly.Therefore,researching and developping design based on ARM kernel multi-axis linkage,multi-function,high flexibility and low cost digital motion control system is very important.In this paper,we analyze the digital system controller of current market,and design a multi-axis digital motion control system based on STM32 ARM.In the process of realization,it is mainly the difficulty of speed smoothness and precision control of displacement.This paper solves the problem of speed and displacement control by optimizing the motion control algorithm in GRBL.The algorithm mainly adopts the forward processing of inflection point,the control of acceleration and deceleration,interpolation operation and other related algorithms to make the motion more smooth and efficient.The design process of speed and displacement control algorithm is also introduced.And according to the requirements of the hardware,by using Altium designer design the main circuit,power circuit,control circuit,USB circuit,serial interface circuit,encoder general input/output circuit,special signal detection circuit,CAN bus circuit,SD card circuit,DA output circuit,motor drive circuit and so on.The circuit part is considered hardware upgrade in the future,enhancing the practical performance of the motion controller.In software design part adopts modular programming method.The whole control system of serial port,line processor,offline actuators,G code parser,spindle controller,motion controller,system command processor,motion planning,programming,pulse generator that make the software architecture more clearly,greatly shorten the software development cycle,reducing and improving the software maintenance costs.This paper explore and validation results:successfully completed the design of software and hardware,and developed a embedded motion control system based on ARM,and verified in five-axis machine tool equipment.Speed smoothness is good,and the machine operates smoothly,workpiece machining level off,the displacement control accuracy.Good results have been achieved.