Research On Multi-axis Motion Control System Based On FPGA

Multi-axis motion control system is the key technology in the control field of condenser bending machine.The control system is required to support multi-axis synchronous control,high precision and high speed motion control.In this paper,a motion controller with high control precision,fast speed,convenient programming,good universality and low cost is designed with ARM as the host control chip and FPGA as the auxiliary chip in a multi-core and heterogeneous way.This paper focuses on the design of hardware platform based on FPGA multi-axis motion control system,proposes three kinds of pulse mode outputs,and realizes s-type acceleration and deceleration,linear interpolation and circular interpolation.Firstly,this paper expounds the background and significance of the multi-axis motion control system,and then expounds the development status of FPGA.Finally,combining with the research status of the multi-axis motion control system at home and abroad,it introduces the research significance of this topic and points out the research direction of this topic.Secondly,the multi-axis motion control scheme is designed in detail.Firstly,by analyzing the functional requirements of the multi-axis motion control system of air conditioning condenser bending machine,the specific functional requirements of the existing system are put forward.Secondly,it makes a comparative analysis of the current popular control schemes,proposes the scheme of multi-axis motion control system based on FPGA,and designs the structure of the whole multi-axis motion control system.Finally,the detailed selection of FPGA and ARM chip is made,and the design flow of multi-axis motion control system scheme in FPGA is determined and the design language is determined.Then,the chip power supply circuit and FPGA circuit design.The design of ARM and FPGA data exchange selects parallel bus,designs the data interface circuit inside the FPGA,allocates the FPGA's function registers,and controls the FPGA's data reading and writing by operating functional registers.Finally,three kinds of output interface circuits of pulse mode are proposed based on the problems existing in the multi-axis motion control system of air conditioning condenser bending machine.Then the design is completed and the feasibility of the circuit is verified by using oscilloscope.Finally,the motion control algorithm is analyzed and studied in detail.Firstly,this paper mainly analyzes the speed planning algorithm and determines the s-type addition and subtraction algorithm through comparative study,and carries out the flow design and implementation of the algorithm.Secondly,the interpolation algorithm is studied,and the point-by-point comparison method,the numerical integration method and the midpoint discrimination method are analyzed in detail.Finally,through the comparative analysis,the numerical integration method is used for linear interpolation,and the circular interpolation is used for the midpoint discrimination method.Through the simulation,it can be seen that s-type acceleration and deceleration,linear interpolation and circular interpolation all run well in FPGA.