Research On Motion Controller And Algorithms Based On ARM And FPGA

As core component of the NC system, motion controllers have been widely applied in the field such as advanced robotics, NC machine tools, industrial automation.To develop an efficient, reliable and function-rich motion controller, this thesis studies the design of the motion controller and motion control algorithms based on actual application for the industrial demand.The research is of theoretical and practical significance for high-speed, high-efficiency and high-precision motion control.The general hardware design scheme based on ARM and FPGA architecture has been introduced. The hardware circuit of the controller along with its main controller board and its expansion board has been designed and a three dimensional motion control platform has been built.The software design scheme for the controller has been proposed. Serial communication program based on MODBUS protocol has been realized; Dynamic data list was designed for storing the control information of PC(touch screen) to the external EEPROM, resulting in convenient operation.The communication module between ARM and FPGA and the acceleration and deceleration module have been implemented with Verilog HDL language; Human Machine Interface(HMI) has been designed to achieve human-computer interaction.The thesis analyzes the principle and implementation procedure of traditional point-by-point comparison method including planar linear and circular interpolation. The method has been simulated and verified in the environment of MATLAB. An improved point-by-point comparison method has been proposed and the interpolation procedure of planar line and arc have been analyzed. The corresponding simulation shows that the proposed method improves the interpolation efficiency comparing with the traditional one. Furthermore, the implementation procedure of the space linear interpolation with point-by-point comparison method has been studied and an algorithm for circular interpolation in space has been analyzed, simulation result shows that all the interpolation points locate in the purposed arc trajectory, which indicates the accumulative error has been eliminated.The implementation process of trapezoidal and s-curve acceleration and deceleration algorithms have been discussed based on the analysis for the torque-frequency characteristics and acceleration and deceleration characteristics of the stepping motor.The research studied the discrete method for the acceleration and deceleration curve of stepper motor and the method for establishing velocity table.Finally, Algorithms of motion control combining with the controller’s performance have been tested.The result shows that the motion controller designed and developed in this paper has good performance and features.Having been used in dispensing machines and other automated equipment, the motion controller has a good prospect.