Dsp-based Motion Controller Control System Design

Open architecture numerical control system and high performance motion controller are becoming mainstream technology in NC system.The application of motion controllers has extended out of the machine-processing field;more and more are applied in control of other industrial automation devices.This thesis takes a motion controller as research object.The controller is based on 16-bit fixed point DSP chip TMS320LF2407A,which was produced by company TI.After making a brief introduction of its hardware structure,the article expatiates on the control system design of the motion controller.The main contents are as follows:Analyzing the present situation of motion control techology at home and aboard and combining the lastest research achievement about open CNC syster,we develop the DSP-based multi-axis simultaneous motion cotrol system of motion controller.Successfully transplanted the multiple-task realtime system——μC/OS-Ⅱin to TMS320LF2407A.Brought forward advanced methods of interpolation and position control algorith.Hardware design of the motion controller:power supply,clock,JTAG,LCD drive,keyboard input,memorizer expand,DAC expand,etc.Construct the PC-DSP communication channel based on USB technology.The paper recommends in detail the method of transplanting real-time embedded systemμC/OS-Ⅱinto the motion controller,and present the optimization method,which can improve the reliability and the stability of the system.For the control algorithm,the conventional PID control algorithm is expounded.And we present a single neuron self-adaptive algorithm which is simple and has high convergence rate.A real time interpolation algorithm of motion control system based on cubic B-spline is provided.The method of how to realize the cubic B-spline interpolation is discussed.The result of experiment indicates that this algorithm can decrease the machining time and increase the control precision of the motion control system.,and the interpolation algorithm is realized by VC.