Development Of Key Technologies For Multi-Axis Motion Control Platform Based On Multi-Core SoC

With the advancement of intelligent manufacturing and industrial automation,industrial applications have placed increasing demands on robots,especially in terms of multi-axis synchronization,high integration,and high reliability.The integrated design of the driver and controller is one of the hotspots of robot research.At the same time,the performance of the driver and controller is also the basis for realizing the function and performance of the robot system.With the continuous development of electronic technology,multi-core processor chips for integrated drive control platform design have emerged.Combined with the current development trend,a multi-axis motion control platform based on multi-core SoC is designed in the project,which is used to realize real-time control of the robot system and multi-axis synchronous motion control.Based on the real-time communication and synchronization control requirements of the multi-axis motion control platform,the Xilinx Zynq 7020 SoC is selected as the core processor.Then,the overall architecture of motion control platform using dual-core SoC is designed.Combined with multi-axis motion control system and interface features,the hardware design of SoC motion control platform is carried out,which mainly includes SoC minimum system and mainstream communication interfaces such as Ethernet,USB,UART.High-speed interconnection of internal units of SoC is realized by adopting AXI4-Lite protocol interface.For the mutual exclusion access requirements of dual-core shared resources under AMP system architecture,the allocation strategy of shared resources of SoC system is proposed.For the synchronous control requirements of multi-axis motion,the timing design of communication between units under the SoC system is completed.Based on the functional integrity requirements of motion control,a SOC dual-core system composed of Linux+Xenomai real-time operating system and servo bare metal system was designed.Under the Linux system,the driver migration of the communication device is completed.Based on the demand of multi-task communication between dual cores,the shared memory OCM is used as the communication medium,and the management method of OCM is proposed.Based on the mutual exclusion of data access and the diversity of communication data,inter-core semaphores and data message mailboxes are designed.Finally,the data link of inter-core communication is designed.at the same time,a non-periodic task communication method based on polling mechanism and a periodic task communication method based on hardware interrupt are proposed.Through the above methods,real-time communication and synchronization control of inter-core multi-task are realized.Finally,the experimental test environment was built,the platform interface function test was carried out,and the multi-task communication function and performance test between the dual-core systems were carried out.The experimental results show that the multi-axis motion control platform can not only achieve the desired functions,but also acquire excellent real-time performance and synchronization for motion control.