The Motion Controller Based On Dsp And Cpld Design, Realization And Motion Control Algorithms

Open architecture numerical control system (Open NC) is a trend of the numerical control technology. As one of kernel-parts in PC (personal computer) +NC system, a type of Open NC, motion controller is becoming a research focus. After analyzing the key technology of the numerical control system, the hardware and software of motion controller are studied theoretically and experimentally. As for hardware, three overall schemes are presented. Considering the development costs, the hardware architecture model of DSP+CPLD+ISA is chosen. All units of the motion controller are analyzed and designed one by one. Complete solutions of those units, including three-axis digital plus, three position encoder interface, 48 digital I/O, DUALPORT SRAM interface, CAN bus interface etc, are given in details. The utility sample board of motion controller has been fabricated. At the same time, hardware debug for the sample board has been finished. As for software, structure and features of utility interpolating algorithm, such as point-to-point comparing method, DDA method and minimum deviation method, are analyzed in details. The utility programs of minimum deviation method and DDA method are improved. A high speed interpolating method based on synchro timer is also presented. Meanwhile, methods of speed control are analyzed. A general architecture of sublayer program in motion controller is presented. In this architecture, demonstration of hardware running has been success. Hybrid programming technique of assembly language with C code is also discussed. Flow charts of all interpolating algorithms discussed in this paper are presented in details. And some utility routines are listed in the appendix. The driver design of motion controller is discussed briefly. Then, a simple and effective method of diver design is presented. The troubles...