基于ARM的运动控制卡研究

发布时间：2018-04-24 02:06

本文选题：四轴 + 运动控制卡　；参考：《长春大学》2017年硕士论文

【摘要】：运动控制技术是机械电子技术的重要组成部分,研究运动控制技术对于实现我国的工业自动化水平的提升具有非同一般的价值。因此,研究高精度、低成本的运动控制卡是我国实现中国智造所必然面临的一个重大课题。为了开发性能优良、成本较低的四轴运动控制卡,本文以STM32F407ZGT6作为主控芯片来进行设计控制系统。本文设计的基于ARM运动控制卡主要研究内容:根据运动控制卡的应用需要,我们设计了控制卡与上位机通信电路、电源模块、工业级通信模块,编码器模块和电机控制模块,以及外围存储模块,增强了运动控制卡的实用功能。根据运动控制卡的总体设计,我们完成相应模块部分的电路芯片选型和外围电路设计。本文所设计的基于ARM的运动控制卡以移植的UCOSIII操作系统作为核心,增强了控制卡对电机的实时管理和控制。在工业级通信接口和外围存储器模块软件设计中我们有SPI、IIC、RS485以及CAN通信协议,提高了控制卡远程通信能力。运动控制卡算法研究。分析了梯形速度规划算法和七段S曲线速度规划算法的数学模型,指出了各自的局限性。在插补算法模块中分析了逐点比较法的直线插补和圆弧插补。插补算法的MATLAB测试。在直线插补算法部分,我们把传统的最小偏差法和Bresenham算法在算法设计原理和计算量方面做了详细地比较,对最小偏差法的数据处理形式做了一些改进,解决了进一步简化比较算法的问题。本文取得的研究结果:实现了UCOSIII操作系统在ARM运动控制卡上的移植;改进的最小偏差法比传统的最小偏差法计算方式更简单;我们提出以对角线三等分割的方式来研究基于逐点比较法的圆弧插补算法的改进算法,在MATLAB仿真测试中插补误差小于一个脉冲当量,在半径为7的圆弧上插补时,其最大的误差为0.2918个脉冲当量,提高了基于ARM的运动控制卡的插补精度。
[Abstract]:Motion control technology is an important part of mechanical and electronic technology. It is of great value to study motion control technology to improve the level of industrial automation in China. Therefore, the research of high precision and low cost motion control card is an inevitable important subject in China. In order to develop a four-axis motion control card with good performance and low cost, STM32F407ZGT6 is used as the main control chip to design the control system in this paper. The main research contents of the motion control card based on ARM are as follows: according to the need of the application of the motion control card, we design the communication circuit between the control card and the host computer, the power module, the industrial communication module, the encoder module and the motor control module. And peripheral storage module, enhance the practical function of motion control card. According to the overall design of the motion control card, we complete the circuit chip selection and peripheral circuit design of the corresponding module. A motion control card based on ARM is designed in this paper, which uses the transplanted UCOSIII operating system as the core, and enhances the real-time management and control of the motor by the control card. In the software design of industrial communication interface and peripheral memory module, we have SPI IIC RS485 and CAN communication protocol, which improves the remote communication ability of the control card. Research on algorithm of Motion Control Card. The mathematical models of trapezoidal velocity planning algorithm and seven-segment S-curve speed planning algorithm are analyzed, and their limitations are pointed out. In the module of interpolation algorithm, the linear interpolation and arc interpolation of point by point comparison method are analyzed. MATLAB test of interpolation algorithm. In the part of linear interpolation algorithm, we compare the traditional minimum deviation method and Bresenham algorithm in detail in the design principle and calculation of the algorithm, and make some improvements to the data processing form of the minimum deviation method. The problem of further simplification of comparison algorithm is solved. The research results obtained in this paper are as follows: the UCOSIII operating system is transplanted on the ARM motion control card, the improved minimum deviation method is simpler than the traditional minimum deviation method. We propose an improved algorithm for arc interpolation based on point by point comparison by diagonal triple-division. In the MATLAB simulation test, the interpolation error is less than one pulse equivalent, and the interpolation time is on the arc with radius 7. The maximum error is 0.2918 pulse equivalent, which improves the interpolation accuracy of motion control card based on ARM.
【学位授予单位】：长春大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273

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