Design And Research Of DSP And CPLD Based Multi-axi Motion Controller

The research of the open control system is deemed to be the third revolution of the manufacturing.In China,the manufacturing industry must be regulated, rebuilt and optimized in time because of poor quality of the product,out-of-date technology and the limited included information.Therefore,it is prosperous to research and develop the open control system.The open motion controller is the necessary and essential part of the open control system.Nowadays,the framework of open motion control becomes the mainstream about the research of motion controller.Firstly,the framework of movement controller which was embedded in industrial computer was applied to design and research four-axi open motion controller in this thesis.The Digital signal processing "TMS320LF2407", produced by TI,was mainly used as the CPU in the motion controller.The logic disposal and arithmetic operation utilized the Complex programmable logic device.We completed the design of the function mode including the distribution of hardware resources,the interface design of the encoder,the PCI communication mode and so on.Secondly,the technology of data buffer storage about the Dual RAM was studied.Reasonable distribution of the memory not only solved the accessing conflict,but also improved the speed of data transformation.The computer driver of the PCI9054 and the read-write program of memory were also explored.The PID control method was integrated with advanced control theory to modulate the parameters according to the specialty of the objects.The arithmetic was emulated in MatLab and got a good response characteristic on experiment.Moreover,the control process of the object was planned rationally.At last,the motion controller was installed and debugged.All mode of the motion controller was debugged.It was proved that the performance of the controller done well.