FPGA-based SOPC multi-axis linkage motion controller and control system

Abstract

The invention discloses an FPGA-based SOPC multi-axis linkage motion controller and a control system. The FPGA-based SOPC multi-axis linkage motion controller comprises a storage module, a soft core IP and a multi-axis linkage motion control module. The multi-axis linkage motion control module is configured to execute the following procedures: the initial processing point of a line segment capableof continuous processing is set to be an original point in an X, Y, Z three-axis coordinate system; the coordinate information of the current processing point, relative to the original point, in theline segment capable of continuous processing is acquired; a vector virtual long axis is solved in real time, the vector direction of the virtual long axis points to the current processing point fromthe original point, and the size of the vector of the virtual long axis is the size of a distance between the current processing point and the original point; and speed adjustment is carried out on the vector direction of the virtual long axis, the virtual long axis is then used to carry out digital integral interpolation on X, Y and Z axes, distribution of X, Y and Z three-axis feed pulses is realized, and speed adjustment in X, Y and Z axial directions can be finally realized.

Description

Technical field [0001] The invention belongs to the field of electronic control, and in particular relates to an FPGA-based SOPC multi-axis linkage motion controller and control system. Background technique [0002] Motion control systems are widely used in various aspects related to national economy and people's livelihood, such as CNC machine tools, plotters, engraving machines, etc. Because the stepper motor has the characteristics of simple use, precise movement, and no accumulated error in continuous operation, it is widely used in various motion control systems. [0003] The traditional motion control system can be summarized into two categories, one is the system with microcontroller (MCU) / microprocessor (MPU) / digital signal processor (DSP) as the core; the other is with dedicated motion control Chip-based system. These two systems have shortcomings in terms of speed and cost. In particular, the characteristics of relying solely on software modification to achieve control ...

AI Technical Summary

Problems solved by technology

These two systems have disadvantages in speed and cost respectively. In particular, the characteristics of relying solely on software modification to meet the control requirements are not enough to meet the requirements of specific applications in many practical applications, and when the system is upgraded, usually The entire circuit needs to be redesigned, which not only prolongs the upgrade cycle, but also increases the upgrade cost, so it is limited in practical application

[0004] In addition, in the process of moving along the preset trajectory, the traditional motion control system uses the traditional digital integral interpolation algorithm to track the preset trajectory, and the traditional digital integral interpolation algorithm needs to track the long axis L (that is, X, The longest axis among the three axes Y and Z) is judged, and then interpolated through the long axis, and each time the long axis is switched, an acceleration and deceleration control is performed, which directly affects the performance of the system in actual engineering

[0005] Moreover, the acceleration and deceleration control process of the traditional motion control system is realized based on time parameters, which involves the relationship between speed, distance and acceleration, and complex multiplication and other operations are required, which makes the speed regulation efficiency of the motion control system low.

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