Research And Implimentaion For Key Algorithms Of Motion Controller Based On DSP

The motion controller, as the key component of Computerized Numerical Control (CNC)system, has become the research focus in the field of numerical control. This dissertation aimsat developing a controller to meet the requirements of openness, performance stability,functional integration and high reliability. The system, with DSP and FPGA as the main controlunit, communicates with PC through PCI bus. The main researches of this dissertation are asfollows:Firstly, the trapezoidal and S-shaped velocity planning algorithms, which are commonlyused in the NC system, are discussed and optimized and the dynamic prediction algorithm ofthe deceleration distance is analyzed in detail; Further more, expansion functions of motionalgorithm, including stopping before reaching destination position, pausing and continuingmovement, changing target speed and changing target position, are investigated. Meanwhile,the algorithm of speed planning,without deceleration distance forecasting, is proposed basedon digital convolution.Secondly, six motion control modes are carried out, including one-dimensional linearmotion, two-dimensional linear interpolation, three-dimensional linear interpolation,two-dimensional circular interpolation, electronic gear joining the motion of master motor andslave motor. Four kinds of back to zero algorithms, adapting to four different machinestructures, are presented. The PID closed-loop algorithms for single-axis control anddual-drive control are developed. Experiments show that the effects of all algorithmsmentioned above meet the requirements. Meanwhile, a platform with step motor and rotaryencoder is constructed, and the algorithms of system identification and PID parametersself-tuning are preliminarily tested.Finaly, according to modularization and component-based software designmethodology, the implementation framework contains several modules. Scheduling setting ofall modules is carried out with DSP/BIOS real-time embeded system. In order to make furtherdevelopment more user-friendly, software development kit in the form of dynamic link libraryand PCI driver basing on windows operating system are provided to provide better openness,adaptability and accessibility.Experiments doing on the dual-drived contructed chip mounter machine show thatmotion control algorithms have good functionality and performance. The motion controllerdesigned in this thesis has been successfully applied to PCB inspection machine, chip mountermachine and so on, and has good application prospects.