Multi-shaft stepping motor controller system based on FPGA chip

Abstract

The invention relates to a multi-shaft stepping motor controller system based on an FPGA chip. The system comprises an FPGA control module and a multi-channel power drive and signal acquisition module. The FPGA control module comprises a Nios II microprocessor, a CAN controller IP core, a multi-channel stepping motor control IP core and the like. The stepping motor control IP core is used for the control of the stepping motor current subdivision drive and the trajectory motion. Each channel of stepping motor control IP core is connected with a channel of power drive and signal acquisition module, and then is connected with a channel of stepping motor / encoder. According to the invention, the control architecture has the characteristics of FPGA-rich programmable hardware resources and parallel processing; precision control of multi-channel (up to 25) stepping motors is realized through a single chip; and the multi-shaft stepping motor controller system has the advantages of miniaturization, low cost, high flexibility and the like.

Description

technical field [0001] The invention belongs to the technical field of motor control, and in particular relates to a multi-axis stepping motor controller system based on an FPGA chip. Background technique [0002] A stepper motor is an electromagnetic machine that converts digital pulses into corresponding increments of displacement. Under normal working conditions, the motor displacement output is strictly synchronized with the digital pulse input, with high control precision, simple control, fast start and stop, and stable performance. It is widely used in numerical control systems, robots and other fields. With the in-depth development of industrial automation, more and more devices require multiple axes to cooperate with each other to complete the motion control of the space trajectory, such as multi-axis machining centers, multi-joint manipulators and other equipment. How to control the motors on each axis cooperatively and its realization method is a problem that need...

AI Technical Summary

Problems solved by technology

This type of main control chip can usually implement more complex motor control algorithms, but due to the limitation of internal hardware resources of dedicated digital chips and the serial operation characteristics of control algorithms, it is difficult for a single chip to meet the cooperative control needs of multi-axis stepping motors

[0004] In the existing technology, a single-axis motor controller is often used to control each axis separately, which is prone to the problem of being unable to synchronize, and also has the problems of complex structure and high system cost

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