Motion control on-chip system

Abstract

A motion control on-chip system comprises an embedded processor core, a memory system, a DMA (Direct Memory Access) controller, a communication module IP (Internet Protocol) core, a motion control IP core and a plurality of peripheral interfaces, wherein the motion control IP core comprises an on-chip bus, an automatic instruction reading module, an automatic variable reading module, a register block, an interpolation control module, a single-axis control module, a speed control module, a pulse output module and an interruption processing module; the automatic instruction reading module of the motion control IP core autonomously reads a numeric control instruction and acquires an instruction parameter or variable from a register system through the on-chip bus, transmits relevant data of interpolation position to the interpolation control module and transmits the relevant data of speed control to the speed control module; when the instruction which can be immediately executed is read, corresponding actions are automatically started to execute according to current parameters; and pulses generated by the processing of interpolation control and speed control generate driving pulses with specified forms through the pulse output module.

Description

technical field [0001] The invention relates to the field of motion control, in particular to a motion control system on chip in the technical field of numerical control. [0002] Background technique [0003] The motion control system is an electric transmission control system composed of the motor as the control object, the controller as the core, and the power electronics and power conversion device as the actuator, under the guidance of control theory. At present, general motion controllers are mainly divided into the following three categories from the structure: [0004] (1) Open motion controller based on PC bus with DSP and FPGA as the core processor [0005] The motion controller based on PC bus is realized by using computer hardware and operating system, combined with motion control application programs developed by users, and has high-speed data processing capabilities. It takes PC as the information processing platform, makes full use of the high-speed data pr...

AI Technical Summary

Problems solved by technology

However, the system has great limitations in structure and performance:

[0011] Poor real-time and reliability: With a general-purpose operating system, tasks unrelated to CNC may take up more overhead, and also affect the real-time and stability of the system

[0012] High cost: The industrial computer that can meet the requirements of CNC machining is equipped with a motion control card, which makes it difficult to reduce the system cost

[0013] Insufficient portability: Since the corresponding industrial computer must be equipped, the system is bulky and heavy, and there are deficiencies in portability

This type of controller basically meets the requirements for single-axis point-position control occasions, but it usually cannot meet the requirements for equipment that requires multi-axis coordinated motion and high-speed trajectory interpolation control

And the controller processing chip can only be used as a special purpose, and cannot be released for other work

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