Optimization Of Multi-Axis Servo Control System Based On MPSoC

In recent years,high power microwave technology has been greatly developed.The microwave array antenna driven by mechanically rotating spiral antenna is a typical application of high power microwave technology.Mechanical rotation is achieved by using micro motor and other driving equipment.Therefore,the motor control system is an indispensable part of the mechanical phased array antenna,and its performance directly affects the phase shifting speed and positioning accuracy of the antenna element.In order to meet the modern requirements of miniaturization,high density and high performance of the control system,the multi-axis servo control system is studied deeply in this paper.Aiming at the problems of unclear hierarchy and limited expansion caused by single bus structure in existing schemes,we proposed an MPSo C based master-slave bus structure and hierarchical multi-axis servo control system optimization scheme.The control unit of each axis has a separate subsystem designed,and each subsystem is independent and does not affect each other.Among them,the algorithm of speed loop and position loop is realized by software in the slave processor.Combined with the current loop algorithm realized by hardware before the project,the three closed-loop control of the servo motor is completed by the method of hardware and software co-design.At the same time,a master system is designed outside the slave system,and each slave system is connected with the master system through the master bus to facilitate the data interaction between the master and slave systems.In the master-slave system of this scheme,the slave processor in the slave system is used to calculate the position and speed loop algorithm.However,the resource utilization of the master processor in the master system is not high.In order to improve the real-time performance of the master processor,RT-Thread real-time operating system is embedded in the master processor.The system is mainly used to achieve: CAN bus communication;Communication and scheduling of data from multiple slave processors;Real-time condition monitoring;Respond to tasks such as real-time interrupts.In order to improve the rate of data exchange,a network communication module based on CAN FD communication protocol is used to realize the CAN bus communication between the host computer and the control system.The design scheme of CAN FD communication interface based on FPGA is completed,including hardware circuit design,software design and experimental research.The results show that the communication rate and data throughput of multi-axis servo controller are significantly increased.Finally,we set up an experimental platform to verify the above functional modules.Experimental results show that the master-slave system structure,three closed-loop control algorithm,RT-Thread operating system application and CAN FD network communication module designed in the scheme are feasible and effective.The error is within permissible limits.It meets the expected requirements of the subject.