摘要
针对传统运动控制器成本高,扩展能力弱,应用性差等缺点,设计了一款基于ARM+FPGA双核心架构的运动控制器,并且提出了在该架构下的多轴电机运动控制算法实现方案,ARM主要实现控制指令和数据的通信,FPGA主要实现运动控制功能。给出了运动控制系统硬件组成图和软件解决方案,介绍了双控芯片之间的通信方式;分析了数字积分圆弧和直线插补算法原理,通过MATLAB对插补算法和梯形速度规划算法进行了仿真分析;使用Verilog语言设计了数字积分(DDA)插补器与速度规划控制模块,并对传统DDA插补器进行了改进优化。实验研究表明,本系统具有性价比高,插补性能强,通用性和灵活性好等优点。
Targeting at the disadvantages of traditional motion controller, such as high cost, weak expansion ability and poor application, a motion controller based on ARM+FPGA dual core architecture is designed, and the implementation scheme of multi axis motor motion control algorithm based on this architecture is proposed. ARM mainly realizes the communication of control instructions and data, and FPGA mainly realizes the motion control function.The hardware composition diagram of the motion control system and the software solution are presented, and the communication mode between dual control chips is introduced. The principle of digital integral arc and line interpolation algorithm is analyzed, and the interpolation algorithm and trapezoidal speed planning algorithm are simulated and analyzed through MATLAB. The digital integration(DDA)interpolator and speed control module are designed using Verilog language, and the traditional DDA interpolator is improved and optimized. The experimental results show that the system has the advantages of high cost performance, strong interpolation performance, versatility and flexibility.
作者
冯志刚
袁鑫凯
肖令军
FENG Zhigang;YUAN Xinkai;XIAO Lingjun(School of Automation,Shenyang Aerospace University,Shenyang Liaoning 110136,China;Beijing Aerospace Military Innovation Technology Co.Ltd,Beijing 100070,China)
出处
《电子器件》
2024年第6期1465-1472,共8页
Chinese Journal of Electron Devices
