Research On Multi Axis Motion Control Experiment Platform Based On DSP+FPGA

With the rapid development of industrial automation,the motion control technique,as the core part of the industrial modernization,its performance has great influence on numerical control machining and industrial robot.At present,there are many motors in industrial robots,the motion controllers often use common and relatively lowperformance techniques.The real-time performance of this controller is not strong,the control algorithm is relatively simple,it is difficult to meet the demand of higher speed and high precision of industrial robots.Therefore,in order to facilitate the research of multi-axis control technology and training talents in this field,design a high performance multi axis motion control experiment platform,flexible and easy-to-use tool for teaching experiments and research,it is very important.On the basis of fully studying the working principle and structure of multi axis industrial robot motion controller,a design scheme based on DSP+FPGA multi axis motion control experimental platform is proposed in this thesis.Firstly,through the modular design of the hardware of the multi axis control experiment platform,the schematic diagram of the corresponding hardware circuit is completed.In the study of the multi axis motion control experiment platform FPGA control algorithm,using the acceleration and deceleration control algorithm and the interpolation algorithm in the multi axis motion control,after comparing with the existing interpolation algorithm and the acceleration and deceleration algorithm,this thesis uses the digital integration method and the S shape acceleration and deceleration control algorithm to complete the fine interpolation motion and the addition and subtraction in the multi axis control.This thesis aims at DSP's high-speed digital signal processing ability and FPGA's strong concurrency control ability and the comprehensive logic resources to make the motion controller realize high speed computation and control.The application of FPGA logic programming performance to replace the integrated chip and complete the logic connection can make the hardware and software of the motion controller reconfigurable,and the control efficiency of the robot motion control can be improved.The research of curve fitting pretreatment and velocity foresight technology has realized the improvement of motion control efficiency,so as to achieve high speed motion control.Finally,in order to test the performance of the multi-axis motion control experimental platform designed in this thesis,I built a test routine to verify the joint invocation of the hardware and software.The experimental results show that the multiaxis control experimental platform has certain value.There are 51 pictures,1 table and 53 references in the thesis.