The Design And Realization Of Distributed Multi-axis Motion Controller

With the development of science and technology,the motion control system in numerical control systems is increasingly attracting more people to research and realization.The motion control effect of the motion control system is mainly determined by the motion control card.Although the motion control system has been developed for many years,there are many kinds of motion control systems on the market,but the research and development of the motion control card has not yet met the requirements of modern industrial processing.At present,most motion control cards are implemented based on DSP+FPGA.This type of motion control card has the characteristics of strong data processing capability,good real-time performance,and strong reconfigurability.This thesis is to design and realization a multi-axis motion controller based on DSP+FPGA.The motion controller can achieve three-axis linkage and can control multiple motion controllers through the bus to achieve good distributed performance.The motion controller has the following functions:(1)The G code interpretation module can interpret the motion control command;(2)The kinematics information obtained from the explanation is used for speed planning;(3)The single speed is planned according to the speed.The trajectory planning is performed for the feed speed and interpolation period within the replenishment cycle;(4)Condition monitoring is performed during the entire operation process,and speed and position information are fed back.This thesis completes the following tasks based on the proposed functional requirements:(1)With reference to the standard G code in Linux CNC,a G code solution module is implemented,which can interpret the motion control command and obtain the kinematic information of the trajectory processing segment.(2)Speed planning is realized according to the linear acceleration/deceleration and trapezoidal acceleration/deceleration principle,and the acceleration/deceleration mode is pre-acceleration/deceleration;(3)According to the trajectory planning principle,referring to the trajectory planning algorithm in Linux CNC,linear interpolation,circular interpolation and helical interpolation are realized;(4)Realize the condition monitoring function,can deal with communication failure and error information in time,and can feedback speed and position information in real time.Finally,the motion controller designed and implemented in this paper can also work in a bare-metal situation(without an operating system).The structure is small and compact,and it can be quickly updated to reduce costs.