摘要
为了解决多轴运动控制器实时性低、稳定性差的问题,以Zynq作为核心控制器构建实验平台,在ARM端实现插补算法,在FPGA端实现频率可变的加减速算法,并针对A/D芯片精度问题,在FPGA端设计一种4倍频鉴相计数模块。该设计Zynq中的ARM通过AXI总线与FPGA通信,将各个轴的步进电机所要完成的转动圈数,在ARM端通过插补计算得到脉冲数量,接着通过AXI传递给FPGA端.FPGA端在各轴步进电机在启动需要的脉冲时,按照一定的规律进行启动与停止,并通过设计的鉴相电路实现编码器信号的采集构成闭环。通过实验证明,在插补算法与加减速算法紧密配合下,在让电机转动360°而实际转动359.856°.精度可达99.856%。通过实验表明该设计具有动态响应快、可靠性高、实时性好等特点。
In order to solve the problem of low real-time and poor stability of multi-axis motion controller,the experimen tal platform is built with Zynq as the core controller,the interpolation algorithm is implemented in the ARM side,the acceleration and deceleration algorithm with variable frequency is implemented in the FPGA side,and a quadruple frequency discriminative phase counting module is designed in the FPGA side for the A/D chip accuracy problem.The ARM in the Zynq communicates with the FPGA through the AXI bus,and the number of rotations to be completed by the stepper motor of each axis is calculated by interpolation on the ARM side to obtain the number of pulses,and then passed to the FPGA side through the AXI,and the FPGA side starts and stops according to a certain rule when the stepper motor of each axis starts the required pulses,and is realized through the designed phase discriminator circuit.The encoder signals are collected to form a closed loop.Finally,it is demonstrated that the interpolation algorithm and acceleration/deceleration algorithm work closely together to achieve an accuracy of 99.856%when the motor rotates 360°and actually rotates 359.856°.The experiments show that the design has the characteristics of fast dynamic response,high reliability and good real-time performance.
作者
郭风祥
徐国伟
宋庆增
李文婧
Guo Fengxiang;Xu Guowei;Song Qingzeng;Li Wenjing(School of Electrical Engineering,Tiangong University,Tianjin 300387,China;National Demonstration Center for Experimental Engineering Training Education,Tiangong University,Tianjin 300387,China;School of Computer Science and Technology,Tiangong University,Tianjin 300387,China)
出处
《国外电子测量技术》
北大核心
2021年第11期130-134,共5页
Foreign Electronic Measurement Technology
基金
国家自然科学基金(61802281,61702366)
天津市自然科学基金(18JCQNJC70300,19JCYBJC15800)
天津市企业科技特派员(18JCTPJC61900)
天津市教委科研计划项目(2018KJ215,KYQD1817)资助。
关键词
步进电机
S型算法
反馈控制
插补算法
stepper motor
S-shaped algorithm
feedback control
interpolation algorithms*
