Development Of Multi-axis Motion Controller Based On ?COS

At present,most of the domestic mainstream motion controllers are developed based on the Linux CNC system.After long-term research and development,the system can realize a variety of powerful functions.However,this kind of motion controller has inherent defects: First,because the initial functional frame design does not consider a wide variety of functions,it is difficult to tailor the system according to functional requirements;second,the Linux CNC system is not a real-time system in a strict sense,its motion control The real-time performance is realized by realtime patches of the system,and it is difficult to meet the occasions with high real-time requirements.The purpose of this design is to develop a multi-axis motion controller based on ?COS,which aims to provide a motion controller with high realtime,high-cutability,light weight and relatively low cost.The cryptographic module is also designed to protect the engineering code of the motion controller.The main work of the thesis is:(1)In the introduction part,the principle,characteristics and current research status of related products at home and abroad are introduced.(2)In the motion controller design part,the overall scheme design is first described,including the selection of the control chip and the design of the software architecture.After that,the motion control system is divided into functional modules and designed separately.The main functional modules are TASK module,MOTION module,I/O module and Step Gen module.TASK module and MOTION module are key modules.The TASK module encapsulates user instructions into a specific form and assigns them to a specified function module,and the specified module implements the instructions.On one hand,the MOTION module is responsible for executing various real-time motion-related immediate commands.On the one hand,it is responsible for performing the trajectory planning operation of the motion path.The trajectory planning algorithm is also optimized to make the motion smoother.(3)In the software design part,the principle,transplantation and design of the ?COS system are explained;in this design,the common communication model is no longer applicable,so a new communication model needs to be built;in order to be compatible with some existing ones The motion control library makes it easier to develop and debug,and also built the HAL function.(4)This paper also contains an independent cryptographic module design.The cryptographic module is designed based on the idea of symmetric encryption,which can be used to protect the engineering code of the host computer.Finally,based on the motion path trajectory planning experiment,the correctness and feasibility of the motion controller design are verified.According to the thread running time statistical experiment,the high realtime characteristics of the motion controller design are verified.According to the simulated collision library experiment,it is verified that the encryption module has a high degree of security.