Research And Design Of Complex And Changeable Motion Controller

This dissertation begin discusses with the controlling core of ARM and FPGA,and gives the design scheme of four-axis motion controller from the aspects of software,hardware and control logic.ARM mainly completes the communication with the host computer and completes the instruction parsing and sends and receives the FPGA operating parameters;the FPGA performs the motor control signal transmission and the photoelectric encoder signal processing.The upper computer software transmits the control data to the motion controller through the RS-232 serial communication bus.The ARM completes the instruction analysis,and then sends it to the FPGA,and reads and writes the FPGA internal data to the upper computer software.The FPGA analyzes the axis operation parameters and commands sent by the ARM and completes the operation control of each axis.During the operation of the motor,the motion controller determines the current motor position based on the photoelectric encoder feedback signal,thereby deducing the motor's subsequent motor operating status.In order to ensure that the system operation is not out of step,the paper designs a position control module based on digital PID closed-loop control,which ensures the real-time and accuracy of the system and improves the performance of the system.The system test shows that the system can run smoothly according to the instructions of the host computer,which not only meets the functional requirements of the system,but also improves the performance greatly.This paper builds a control platform based on the real-time scheduling ability of ARM(S3C2440)system and the parallel processing data capability of FPGA(EP4CE15F17C8N).This design not only includes the design of software and hardware,but also initially developed the upper computer software,completed the design of the system interface driver and the establishment of the operating system kernel.The main focus of the paper is on the following aspects:1.Introduced some circuits of the system hardware design,and gave the PCB design scheme.2.Introduced the basic concept of the embedded operating system and introduced in detail the process of transplanting the operating system kernel and related files.3.The design process of the system program is introduced in detail,including the design of communication program in ARM,the design of system initialization program,the design of interrupt processing program,and the design of instruction parsing program.4.Focuses on the design of FPGA related programs,including instruction parsing module,interpolation algorithm module,S curve speed control module,PID position control module,driver pulse transmission module,photoelectric encoder feedback signal processing module and so on,and simulates some modules.5.Developed the host computer software based on Qt and running on Windows.