System Design And Implementation Of Stepper Motor Controller Based On Embedded Real-time System

As the open-loop system execution units,stepper motor has been to widely used in the multi-axis coordinated system.With Chinese manufacturing industry upgrading,the requirements of multi-axis stepper motor control system is also still growing,such as rapid prototyping,small engraving machine,manipulator,robot.However,the current motion controller is so professional,more expensive,and it is necessery to develop a low-cost,multi-purpose,multi-axis stepper motor control system.According the current demand and embedded technology achievements,This article proposed a independent motion control system design that combined ARM-based controller with real-time operating system,and complet system software and hardware design,and application debugging.The controler can be run from the PC.at the same time it can control four axis motion,in which controls three-axis movement in Cartesian coordinate system.Based on the embedded real-time systems.The motor control system fully taking into account the secondary development,and it retain expansion interface,greatly improves the reliability of the independent motion control system,it is easy to maintain and expand secondary.Specific contents are summarized as follows:In the hardware platform of motion controller,which based on STM32F407 VG core,it is divided into module: motor drive module,memory module,PC interfaces,interactive user interface(secondary development of serial TFT screen),and complete the welding circuit design debugging.In the algorithm,the system currently including to realize planning and management of trapezoidal acceleration and achieve linear interpolation algorithms.The system used to linear interpolation algorithm based on Bresenham algorithm,Through promoting in three-dimensional space,the Bresenham algorithm can achieve high speed and precision linear interpolation.In software platform,the article transplanted the RT-Thread to the controller board;Using the modular design,the system is divided into individual tasks to achieve,and analyze the communication mechanism between those tasks;and that it designed and implemented the interactive user interface driver and PC communication modes,motion planning and management,the underlying motor drivers,etc.On this basis,according to the actual use case,we can develop secondary to upgrade the controller's function.The practical shows that the motion control system is reliable and stable,the motor is running smoothly;it is normorlly use that the actual application products that developed based on the motion control system.