FPGA Design Of A Multi-Axis Motion Controller For Flexible Positioning Unit

As personalized demands in the car market become more and more urgent,there appears the demand for multi-vehicle collinear production in automobile manufacturing,and therefore raises higher requirements to the control technology positioning system.At present,the relevant motion controllers in the market are mainly imported from a broad,which have the disadvantages such as high price,poor system openness and we ak specificity,and most of them are two-axis interpolation.Therefore,it is necessary to perform independent research and development on multi-axis motion controller,to solve the problems such as space trajectory transition of the flexible positioning unit,saving the time of position transformation,avoiding obstacles and so on,in order to achieve multi-vehicle collinear production.Focusing on the FPGA design for the multi-axis motion controller of the flexible positioning unit,and introducing the space arc interpolation algorithm into the design,this paper mainly completes the following work:Analyze the problems existing in automobile welding positioning unit and multi-axis motion controller,as well as the current status of multi-axis motion controller at home and abroad,and put forward the overall design proposal of multi-axis motion controller based on FPGA.Study the performance of the flexible positioning device controlled by the motion controller,plan the circuit of the multi-axis motion controller based on FPGA,divided into three levels-device,board and chip.Make clear the basic principles of FPGA design,and determine the main components,use the hardware description language Verilog for the detailed design of each function module,and complete FPGA chip layout for motion controller,including peripheral auxiliary signal interface module,sequence and logic function module,interpolation function module,interpolation speed module,etc.In the process of interpolation function algorithm derivation,compare the current existing similar multi-axis motion controllers,put forward the spatial linear interpolation and circular interpolation algorithm,making up for the inadequacy of the similar motion controllers.Perform R&D on board level circuit of motion controller,including electrical parts and peripheral circuit of FPGA chip,design pulse output circuit,encoder interface circuit,switch input/output interface circuit,etc.Demonstrate the reliability for circuit design and implementation.The multi-axis motion controller in this paper is designed based on the FPGA chip,with the main features and advantages of realizing the spatial linear interpolation and circular interpolation,and solving the problem such as space trajectory transition,avoiding obstacles and saving position switching time,etc.The design proposal is feasible and expected to be applied to the flexible positioning unit after further testing,which will promote the development of multi-vehicle collinear production technology in China.