The Development Of A Embedded Motion Control System

Motion controller is very important for control system, with a wide rang of applications.There is little difference between internal controller and foreign controller in hardware design. European and American controllers offer many advanced control algorithms, and provide a convenient platform for secondary development. In addition, many foreign controllers such as Park, IMS, supply customers with a instruction set. However, the domestic controllers provide the customers with control functions only.According to comprehensive analysis of technology at home and abroad, the main task of the research subject is to develop a motion controller based on ARM.The controller designed in this thesis has some advantages as follows: The controller can run with 220 or 110 voltage instead of 12 or 24 voltage; The max error of line interpolation is less than 1 pulse equivalent and the max error of circle interpolation is not more than 2 pulse equivalents through improvement of DDA; A new Acc/Dec algorithm is proposed to improve the precision of speed control; A instruction set is gived instead of motion control functions.The main work of this paper is listed below:1. Analyze and confirm the main function of controller, plan the general design scheme of the motion controller and outline each modules of the given design scheme.2. Complete all hardware modules.3. Discuss and design the interpolation algorithm and acceleration & deceleration control algorithm.4. Transplante the real-time embedded system uc/os-II into LPC2294.5. Finish the instruction set and interpreter.6. Emulate the uc/os-II on PC.