Research On Motion Control Card Based On ARM

Motion control technology is an important part of mechanical and electronic technology,the research of motion control technology is of great value for the realization of the level of industrial automation in china.Therefore,the research of high precision and low cost motion control card is an important task to realize the intellectualization of Chinese manufacturing industry.In order to develop a four-axis motion control card with excellent performance and low cost,the STM32F407ZGT6 is used as the main control chip to design the control system.In this paper,the main research contents of the motion control card based on ARM:According to the application of motion control card,we designed the control card and the host computer communication circuit,power module,industrial communication module,encoder module and motor control module,and peripheral memory module,and enhance the practical function of motion control card.According to the overall design of the motion control card,we complete the circuit chip selection and peripheral circuit design of the corresponding module.In this paper,the motion control card based on ARM is designed with the UCOSIII operating system as the core,which enhances the real-time management and control of the control card to the motor.We have SPI,IIC,RS485 and CAN communication protocol in the design of the industrial communication interface and peripheral memory module,improve the remote communication ability of control card.Research on motion control card algorithm.The mathematical model of trapezoidal velocity planning algorithm and seven-segment S-curve velocity programming algorithm are analyzed,and their limitations are pointed out.In the interpolation algorithm module,the linear interpolation and circular interpolation of the point comparison method are analyzed.MATLAB simulation test of interpolation algorithm.In the linear interpolation algorithm,we compare the traditional minimum deviation method and the Bresenham algorithm in terms of algorithm design principle and calculation quantity,some improvements are made to the data processing of the minimum deviation method,which solves the problem of simplifying the comparison algorithm.The results obtained in this paper: The UCOSIII operating system is transplantedmotion control card based on ARM;The improved minimum deviation method is simpler than the traditional minimum deviation method in the calculation;We propose an improved algorithm for circular interpolation algorithm based on point by point comparison method in the form of diagonal segmentation;In the MATLAB simulation test,the interpolation error is less than one pulse equivalent,In the radius of 7 on the arc interpolation,the maximum error of 0.2918 pulse equivalent,which improves the interpolation accuracy of the motion control card based on ARM.