Research On Performance Optimization Strategy Of Mulyiprocessor Multi-axis Motion Control System

The open motion control system is the main development direction of motion control systems,and is a research hotspot in the field of industrial manufacturing.In order to improve the scalability and reconfigurability of the control system,solve the problem of large amount and long calculation cycle of single-processor operation,a multiprocessor open architecture based on DSP and FPGA is proposed.The system performance optimization strategies are studied from three aspects:multi-axis synchronous control performance,system security and timing stability.The main research contents are as follows:Firstly,the hierarchical planning of functions of dual DSP and FPGA,circuit design and production of hardware board is conducted.Then the data interaction and read-write arbitration mechanisms between heterogeneous DSP systems,which is realized by DPRAM and FIFO based on FPGA.Secondly,the synchronous delivery mechanism of digital pulse command and the analog command are designed on the FPGA in the system multi-axis synchronous control performance optimization strategy,and the timing of the motion command is adjusted according to the dynamic response difference of the controlled axis,which improve the synchronous coordinated motion performance of control system.The synchronous latching mechanism based on software setting and event trigger chain latch mechanism of the position information are implemented by FPGA,which complete the synchronous sampling of the controlled axis position information.Thirdly,the security and timing stability of the control system are analyzed and designed.To realize the monitoring and management of the system state and the synchronous E-Stop planning,a distributed security mechanism is proposed.Combined with the hardware characteristics of the designed motion control system,the timing of DSP EMIF is matched and the static timing analysis constraints are performed on the FPGA.Finally,the effectiveness of the proposed system performance optimization strategy is verified.The experimental verifications are executed on the hardware platform of self-developed multi-axis motion control system,which include the motion instruction(digital pulse command and analog command)synchronous delivery mechanism,the synchronous latching mechanism based on software setting and event trigger chain latch mechanism of the encoder position information,and the synchronous E-Stop function in the distributed security mechanism.The experimental results show that:(1)The synchronous motion dispatching mechanism can realize the synchronous motion between the motion axes,and can accurately adjust the command timing of each axis according to the difference of the dynamic response;(2)Two kinds of position information synchronous latching mechanism can accurately collect the position feedback information of each axis at the same time,realize synchronous latching of position information of each axis;(3)The synchronous E-Stop in the distributed safety mechanism,which can realize synchronous emergency stop of axises motion when the motion enable switch is disconnected.