Design Of Multi-Axis Motion Card Based On DSP

Motion control technology is an important part of modern industrial automation technology and a key technology to promote new technological revolution and new industrial revolution.As the main application platform of motion control technology,the research of high precision and low cost motion control card is an important task for the implementation of "Made in China 2025",which aims to promote the manufacturing industry to become stronger and realize the industrial upgrading.In addition,the low-price,stable and cost-effective operation control products are still in strong demand for a large number of domestic automation manufacturers in the middle and low-end market,which occupy most of the domestic market share and have significant economic benefits.Based on the research results and market demand of motion control card at home and abroad,the software,hardware and control algorithm of motion control card are researched and developed to provide theoretical accumulation and technical reserve for the follow-up improvement and promotion.The specific contents are as follows:1)Overall scheme design.The overall design scheme of motion control card is proposed by analyzing the functional requirements of motion control system and combining with the development trend of motion control card;2)Hardware system design.The functions of three-axis synchronous control and signal acquisition are realized by using DSP as the control core and extending address decoding,universal input/output,D/A,A/D and encoder feedback modules in the peripheral based on FPGA.The communication between upper computer and motion control card is realized relying on standard Ethernet;3)Software system development.The design and development of human-computer interaction interface,application program,dynamic link library and communication protocol are carried out based on the design idea of modularization and hierarchy to realize strong portability,convenient for secondary development and simple operation;4)Algorithm derivation and simulation.The theoretical derivation and Matlab/Simulink simulation of the trajectory tracking algorithm based on the input shaper and feedforward controller are finished,realizing accurate tracking of the given input trajectory and residual vibration suppression;5)Experiment.The software and hardware of the motion control card are tested on the experimental platform consisting of the motion control card and linear servo motor system.At the same time,the trajectory tracking algorithm is verified.The motion control card is designed and implemented to meet the development needs of openness,networking and individuation.The hardware system realizes modularization and scalability through peripheral expansion,which can flexibly provide hardware solutions according to the special needs of some segmented industries.The software system provides convenience for the later secondary development through the programmable interface function,which shortens the development cycle on different hardware platforms and reduces the enterprise cost.Compared with the existing trajectory tracking algorithms,the proposed control algorithm shows fast convergence of controller parameters,wide application range,and good residual vibration suppression effect.Finally,the paper summarizes the research work,analyzes the advantages and disadvantages of the motion control card and the control algorithm,and prospects the future research direction.