| With the development of science and technology, the traditional motion control systemcan not meet the competition of the volatile manufacturing market, because of its ownrestrictions such as closed structure, lack of flexibility, poor compatibility, fault tolerance,scalability and reliability, lack of network etc. The open motion control system with highspeed, high precision, high flexibility, high reliability and network is highly demanded.This paper built a motion control system based on NC-embedded PC architecture,EtherCAT network, key of DSP and FPGA; emphasised on the core algorithm; designed andrealized the motion control interface and fine interpolation module based on FPGA.In the respect of the core algorithm, this paper employed DSP and FPGA in two levelinterpolation, which made full use of the software and hardware to improve the efficiency ofinterpolation. Based on two level interpolation, this paper avoided the theoretical errors of therough interpolation by no line approximation. This paper simplified quadrant processing ofarc thick interpolation in the way of realizing it in polar system, feedding in step angle;improved the fine interpolation algorithm based on digital differential analyzer to speedcontrollable.This paper proposed the speed look-ahead algorithm in real-time to realize thevolecity planning for small lines with linear and7periods S curve acceleration anddeceleration with any starting speed and ending speed based on discrete model.This paperproposed the single neuron PID+feedforward position control algorithm which do not needmodel, is adaptive to the external disturbance, system parameter variation, simple inparameter setting, high control accuracy.In the respect of hardware and software, this paper designed and realized motioncontrol interface and hardware fine interpolation module based on FPGA.At last,this paper used MATLAB to simulate the algorithm,which showed that thealgorithm worked as expected and improved the speed and precision. |
