Design Of Multi-axis Motion Controller For Welding Robot Based On PCI Bus Interface

A welding robot is an important tool to increase production efficiency and improve the quality of welding. And multi-axis motion controller is the core of welding robot's control system whose functions directly impact on the performance of the welding robot. Aiming at the shortcoming of poor open and expansibility on the current market and integrating performance requirements of the welding robot, this article design an multi-axis motion controller which will achieve six-joint coordination of the robot and precise trajectory control, when it has a good real-time control performance, high precision motion control, and good expansibility. So, to a certain extent, the performance of the welding robot will be improved.In this paper, the interpolation algorithm and processing deceleration control in motion control will be described and make a theoretical research in technology of the exposition space on the two-dimensional linear interpolation and circular interpolation algorithm, UNRBS interpolation algorithm, linear acceleration and deceleration, acceleration and deceleration index, the S-curve acceleration and deceleration. And the article studies the AC servo system control method for providing theoretical guidance to hardware and software design of the multi-axis controllerAfter analyzing and comparing some common designs of multi-axis motion controller, finally, the paper determines to adopt the "DSP + PCI+ CPLD" hardware structure of multi-axis motion controller. PCI bus has a number of advantages to meet the motion controller and PC requirements in large amounts of data exchange; DSP as the core of multi-axis motion controller, with remarkable performance in data processing, is able to realize complex programming in movement tracks and advanced control arithmetic. Complex programmable logic arrays (CPLD) used in hardware structure not only makes it higher in hardware system integration and better in reliability and facilitates the development and expansion of multi-axis controller.In terms of software, this paper analyzes the structural characteristics and operating mechanisms of WDM driver based on the Windows 2000 operating system environment, describe how to use DriverStudio driven integration develop environments to write drivers of the movement controller, also discuss the crucial technologies in developing methods of PCI drivers. At the same time, the driver specific debugging methods and the installation process have been presented.