Sopc multi-axis linkage motion controller and control system based on fpga

Abstract

The invention discloses an FPGA-based SOPC multi-axis linkage motion controller and a control system. Among them, an FPGA-based SOPC multi-axis linkage motion controller includes 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 program: set the continuous processing The starting processing point of the line segment is the origin under the X, Y, Z coordinate system; obtain the coordinate information of the current processing point in the line segment that can be processed continuously relative to the origin; obtain the virtual long axis of the vector in real time, among which, The vector direction of the virtual long axis is from the origin to the current processing point, and the vector size of the virtual long axis is the distance between the current processing point and the origin; the speed is adjusted in the vector direction of the virtual long axis, and then the virtual long axis is used to adjust X, Digital integral interpolation is performed on the Y and Z axes to realize the distribution of the feed pulses of the X, Y, and Z axes, and finally realize the speed regulation of the X, Y, and Z axes.

Description

technical field [0001] The invention belongs to the field of electronic control, in particular to an FPGA-based SOPC multi-axis linkage motion controller and a control system. Background technique [0002] Motion control systems are widely used in various aspects related to the 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 cumulative error in continuous operation, it is widely used in various motion control systems. [0003] Traditional motion control systems can be summed up into two categories, one is a system with a microcontroller (MCU) / microprocessor (MPU) / digital signal processor (DSP) as the core; the other is a dedicated motion control system. Chip-based systems. These two systems have disadvantages in speed and cost respectively. In particular, the characteristics of relying solely on software modification to meet the ...

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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