Design And Implementation Of Multi-axis Motion Control System Based On Ethernet

As the advanced manufacturing industry and modern industrial automation have higher and higher requirements for real-time performance and accuracy,the research and design of the motion control system as the core and key component is also being updated and promoted at a high speed.The high-speed,high-precision and low-cost will also be the inevitable trend of the future intelligent manufacturing industry.In this context,this paper designs and proposes a set of embedded multi-axis motion control system based on Ethernet.The main research contents of this paper are as follows:1.The hardware design of the motion control card in the multi-axis motion control system.According to the requirements of the project system,a network-type four-axis motion control card was designed.The basic architecture of the control card is "ARM+FPGA",in which the ARM microprocessor is used as the control core,and the FPGA is used as a co-processor to work together to realize the control and signal acquisition of a single motion control card.2.Software design of networked multi-axis motion control system.The entire software framework of the motion control system includes: PC upper computer control software,motion control card lower computer processing software.The software system development takes modularization and hierarchization as the design concept,and takes high real-time,multi-tasking and simplicity and efficiency as the design goals.A set of motion control system software with convenient operation and strong portability has been designed and developed.Among them,the motion control card end adopts the light network protocol stack LwIP suitable for embedded,and builds a complete motion control system communication network with the upper computer.3.The fourth-order trajectory planning algorithm of the motion control system.Aiming at the point-to-point movement of the S-shaped symmetrical trajectory,an algorithm suitable for high-order trajectory planning is derived,and the fourth-order trajectory planning algorithm is verified through Matlab/Simulink simulation experiments.Time optimality is obtained within physical boundary conditions(actuator device and motion system constraints).Then,the function and performance index of the multi-axis motion control system based on Ethernet is built to test and verify,and the system test results are given at the same time,which effectively verifies the practicability of the multi-axis motion control system designed in this paper.Finally,the thesis summarized the research work comprehensively,analyzed the advantages and disadvantages of the designed motion control system,and made a prospect for the future research direction.