Design Of Embedded Motion Controller For Linear Motor Based On OMAP-L138

In modern mechatronic systems,such as CNC machine tools,precision manufacturing,microelectronics and semiconductor equipment,usually need high speed and high precision.The linear motor drive system without intermediate transmission links;eliminating some pos-sible adverse effects such as other frictions and inertia load,which makes it easier to improve the system response speed and accuracy.Linear motor is highlighted in many hight speed/high precision systems and precision measurement applications duo to its advantages.Linear motor drive system has also been widely used in industrial,civil,military and other direct drive oc-casions and shows a strong vitality.The influence of nonlinear friction in the system is well analyzed in this dissertation and a mathematical model based on friction compensation is de-veloped.The validity and accuracy of the model is verified by the system identification in both time domain and frequency domain.A series of comparative experiments shows that further improvement of performance by nonlinear compensation is achieved.On the other hand,em-bedded motion controller is developed based on OMAP-L138 dual core processor.Adaptive robust control(ARC)algorithm has been realized on DSP,tracking the trajectory of linear mo-tor.Graphical user interface is developed by Qt Creator,real-time observation of the trend of variables is done through PC,and saved the data for subsequent analysis.The dissertation is organized with five chapters as follows:In Chapter 1,the research background and history of linear motor drive system,motion control system and motion controller are presented in detail.The application of linear motor in high speed/high precision occasion and the research of motion control algorithm are introduced,which leads to the necessity and inevitability of embedded motion controller.At the end,brief summary of the main content of the dissertation and significance is give.In Chapter 2,in accordance of the exist linear motor platform,the rigid dynamic equation of linear motor is established,and the model is founded by using MATLAB.The system iden-tification in time domain is applied,which gave us the initial value of the controller's parame-ters.It can ensure the accuracy of the system control and then the identification in frequency domain is applied to verify the correctness and accuracy of the system model.Finally,by coding S-Function in MATLAB,the ARC mode is established,and the trajectory of linear mo-tor is planned.Good transient and steady state control performance are achieved in the end.In Chapter 3,the experimental platform,its performance parameters,also the construction of software platform is introduced.The board modules,GPIO,UART,DA,ECAP,EMIFA and 64-bit Timer Plus,are used and are introduced in detail.According to the requirement of the experiments,the pin board is designed to make the connection more flexible.Finally,all the hardware is integrated into one test box for the safety of hardware and convenience to be carried In addition,the required software platform is built,including CCS,Qt Creator,and cross com-piling platform on Linux system.These hardware and software foundation is laid for the fol-lowing development.In Chapter 4,based on the theoretical analysis and simulation of the previous three chap-ters,the control program is developed and tested.Each fimction module subroutine and the graphical user interface on PC is developed.After series of tests,the data from the control program are analyzed,the control error,identification of the system parameters,the control quantity of the system are obtained,which proved the superior control performance of the ARC control algorithm.In Chapter 5,the main work and achievements of the dissertation are summarized.The shortcomings of this dissertation are pointed out,and the further research of linear motor mo-tion controller is discussed.