基于DSP、CPLD的运动控制器设计、实现及运动控制算法研究

【作者】 王运；

【导师】 黄大贵；

【作者基本信息】 电子科技大学 ， 机械电子工程， 2005， 硕士

【摘要】 开放式数控技术是未来数控技术发展的主要方向之一,运动控制器作为PC+NC 类开放式数控技术的关键部件具有很高的技术研究价值。在分析了决定数控系统性能的若干关键技术后,重点对与运动控制器相关的硬件及软件技术进行了较深入的研究。其中硬件技术方面提出了三种运动控制器的总体实现方案,综合各方面因素及现有条件后选择了DSP+CPLD+ISA 的硬件实现形式;然后依据所选方案对运动控制器的各部分电路进行了具体的实现分析,完成了三轴数字控制量输出、三路正交编码器反馈输入、48 路数字量I/O、双口RAM 接口、CAN 总线通信等电路的设计,给出了详细完整的实用硬件电路解决方案。同时制造出了实用的运动控制器样片,并完成了全部的硬件调试。软件技术方面详细分析了逐点比较法、数字积分法、最小偏差法等实用插补算法的组成和特点,重点论述了以上各种插补算法在DSP中的软件实现。对最小偏差法与数字积分法的具体实现程序进行了改进,提出了一种利用硬件同步定时器实现的高速直线插补方法。另外还对运动控制中的速度控制以及加减速技术进行了算法分析。提出了一种运动控制器底层程序总体架构方案,以此架构编制的系统程序已可以进行实际硬件的运行演示。对汇编与C 语言的混合编程技术进行了较详细的论述。给出了讨论过的所有插补算法的程序流程图,并在附录中列出了部分实用程序。对运动控制器驱动程序的设计与实现进行了简要的论述,并给出了一种简便有效的制作驱动程序的方法。最后对整个运动控制器的软硬件设计与调试中出现的问题进行了简要的总结,提供了一些实用的软硬件调试经验,并对工作进行了总结和展望。更多还原

【Abstract】 Open architecture numerical control system (Open NC) is a trend of the numerical control technology. As one of kernel-parts in PC (personal computer) +NC system, a type of Open NC, motion controller is becoming a research focus. After analyzing the key technology of the numerical control system, the hardware and software of motion controller are studied theoretically and experimentally. As for hardware, three overall schemes are presented. Considering the development costs, the hardware architecture model of DSP+CPLD+ISA is chosen. All units of the motion controller are analyzed and designed one by one. Complete solutions of those units, including three-axis digital plus, three position encoder interface, 48 digital I/O, DUALPORT SRAM interface, CAN bus interface etc, are given in details. The utility sample board of motion controller has been fabricated. At the same time, hardware debug for the sample board has been finished. As for software, structure and features of utility interpolating algorithm, such as point-to-point comparing method, DDA method and minimum deviation method, are analyzed in details. The utility programs of minimum deviation method and DDA method are improved. A high speed interpolating method based on synchro timer is also presented. Meanwhile, methods of speed control are analyzed. A general architecture of sublayer program in motion controller is presented. In this architecture, demonstration of hardware running has been success. Hybrid programming technique of assembly language with C code is also discussed. Flow charts of all interpolating algorithms discussed in this paper are presented in details. And some utility routines are listed in the appendix. The driver design of motion controller is discussed briefly. Then, a simple and effective method of diver design is presented. The troubles更多还原