Design Of Motion Controller Based On ARM And CPLD

For the motion control system for IC pckaging, as the size of chip becomes smaller and smaller, and the motion distace of the mechanical system shorter and shorter, higher requirement have been bring forward for the responsibility and the precision. According to the above, it makes a higher demand for the design of the motion controller, as high speed, high precision has became very important aspect refered to the motion controller desigining.Based on the servo system for IC packaging, an X-Y table driven by linear motors, this dissertation focuses on the degin of the total system. We can treat it in four partition as follows.Firstly, linear motor system modeling. Modeling for the dynamics system of the linear motor what makes a support for the motor controlling.Secondly, the design of the conroller. A piece of LPC2378 work as the main IC, which plays the role as calcullate the velocity profile, realizes the PID algorithm and send PWM pulse. Then, a piece of CPLD gather the signal of the linear encoder.Thirdly, the degin of the software platform.μc/os2.86 and LwIP has been transplanted as the operating system of ARM. MAC driver has also been made in the dissertation. the communication of PC and ARM is achieved by the Ethernet, MAC driver has been made in the dissertation.About PC, the design sustain the API between ARM and PC with the form of dll. About ARM, The dissertation proposes the function for the layout of the velocity and also acheives PID algorithm on ARM; About CPLD, the dissertation designs the interface between ARM and CPLD and the desgin of signal collection module.At last, validate the capability of the Ethernet comunication, PID alogrithm , T-curve, S-curve mode and two axis coordinate motion by testing.