Development Of Four-motor Drive And Control Integrated Robot Controller

As the core parts in industrial robots,drivers and controllers with high performance are widely used in all fields related to robots.They directly determine the performance of industrial robots.At present,most of industrial robots in the market need multiple servo motors in coordination with drivers,which leads to many problems such as poor openability,wasting of computing resources and expensive costs.Therefore,drivers and controllers of industrial robots need integration design to improve performance and reduce cost.This thesis was aimed at the development of four-axis controller with drive and control integration.For driving multiple motors,it designed related hardware circuit,developed hardware communication interface and Nios ii control software.Main researches and originality innovations are as follows:Software for drive and control was written in the Nios ii processor and it could driver PMSM.In order to reduce the processer costing and meet the demands that servo system could achieve the motor's status,the thesis designed the hardware circuit and analyzed SPI communication protocol and Tamagawa's encoder protocol of specific hardware.Besides,it completed the design of IP cores in the FPGA for communication with encoders and ADC chip.The hardware design for communication was conducted to satisfy the multiple-processor communication demands in Drive and Control Integrated.Utilizing W5300 hardware and on-chip memory blocks of FPGA,the thesis completed the software design for multiple-processor communication in the FPGA,DSP and host computerFinally,functional verification for related IP cores was completed on the self-made experimental platform.The effectiveness of motor drive was also testified.