Design Of Multi-axis Motor Control System Based On SOPC

With the development of robotics industry and electronic science and technology,servo motor systems and FPGAs have become research hotspots.This subject is based on the key scientific and technological research and development project of Jilin Province Science and Technology Department.In order to improve the integration,control accuracy and dynamic performance of the principle prototype of the dynamic and static balance rehabilitation and training system,this paper is based on the idea of integration of drive and control and cooperation of software and hardware.As a basis,design a multi-axis motor control system based on SOPC.This article is based on the idea of integrated control and drive technology.In terms of hardware,the control unit,motor drive unit,signal processing unit,etc.are integrated,which can effectively improve the integration of the control system while being able to control multiple motors at the same time.In software,directly integrate the upper-level control algorithm of the multi-axis motor with the bottom-level driving algorithm.The system does not need multiple main control chips and discards some external circuit wiring,avoiding some interference,improving system stability,and at the same time helping to improve the system bandwidth and cost saving.The control system adopts the SOPC technology,and makes full use of the extremely strong parallel task processing capabilities of the field programmable gate array FPGA.Some more complex algorithms and some hardware interface circuits are built on the FPGA in the form of digital logic circuits.And realize and work together with on-chip ARM processor.The integration of the algorithm on the FPGA can effectively reduce the operating load of the operating unit of the main control chip of the embedded system and increase the bandwidth of the control system.Integrating part of the hardware circuit into the FPGA,on the one hand,you can modify the function of the circuit at any time as needed,improve circuit flexibility,shorten the development cycle,and reduce the system cost.On the other hand,because the layout of the hardware circuit on the circuit board is reduced,the Improved the integration level of the control system.The multi-axis motor control system designed in this paper has the characteristics of high integration,high control accuracy,high dynamic performance and high stability.It can realize the function of controlling 3 permanent magnet synchronous motors at the same time.Through reasonable path planning,the control strategy can be adjusted flexibly.To complete the impedance control task of the parallel robot.Through experiments,the response time of the current loop of the control system is less than 4ms,and the response time of the speed loop and position loop can be controlled within100 ms.The speed error does not exceed 10 RPM,and the position error does not exceed0.021°.When faced with external disturbances,the system It can also maintain strong stability,and all system indicators meet the design requirements.The rationality of the system design based on the software and hardware co-design technology and the integrated control-drive technology concept is verified.