Optical fiber interface multi-axis motion control system based on FPGA (field programmable gata array) uniprocessor

Abstract

The invention discloses an optical fiber interface multi-axis motion control system based on an FPGA (field programmable gata array) uniprocessor, comprising an FPGA control module, a computer bus communication module, a fieldbus optical fiber communication module, a D / A (digital to analog) conversion amplification and pulse output aftertreatment module, a photoelectric encoder sampling pretreatment module, an IO input / output module, a power module, a clock generation module and an FPGA configuration module. The system of the invention is provided with the motion control system of a fieldbus optical fiber communication interface. The invention adopts the FPGA uniprocessor to realize the functions, such as photoelectric encoder sampling, closed loop control calculation, DA signal output pretreatment, pulse control signal output pretreatment, IO (input / output) signal input / output pretreatment, communication with a computer bus or a fieldbus optical fiber communication module and the like. Meanwhile, the invention provides a general scheme of the fieldbus optical fiber communication interface.

Description

technical field [0001] The invention relates to a system in the technical field of motor control, in particular to an FPGA single processor-based optical fiber interface multi-axis motion control system. Background technique [0002] The traditional servo motor control method is to place the motion control board in the computer bus slot, and control the motor by sending instructions to the control board through the computer. However, when the number of controlled servo motors increases, the motion control board also needs to be expanded at the same time. At the same time, the following problems inevitably arise: insufficient computer bus bandwidth, complicated cable arrangement, high expansion costs, difficult maintenance and upgrades, etc. . Therefore, at present, the network topology control structure that uses the serial communication bus to connect various motion control boards has gradually become one of the mainstream control structure forms. [0003] In the past, th...

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Problems solved by technology

However, when the number of controlled servo motors increases, the motion control board also needs to be expanded at the same time. At the same time, the following problems inevitably arise: insufficient computer bus bandwidth, complicated cable arrangement, high expansion costs, difficult maintenance and upgrades, etc.

[0004] After searching the existing literature, it is found that the following prior art is available: 1. The application number is 200910050444.5, the publication number is CN 101546185A, and the name is "multi-axis motion control card based on IEEE-1394 serial bus". A motion control board based on DSP+FPGA and IEEE-1394, but this technology uses the traditional single-chip DSP+FPGA control method, FPGA does not have the processor function, in addition, this technology uses twisted pair for bus communication, not It has the ability of optical fiber communication, but it lacks the ability of bus transmission distance and anti-interference; 2. The application number is 200320117819.3, the publication number is CN 2679760Y, the name is "FPGA-based high-speed digital servo card", and the application number is 200710077029.X, The publication number is CN 101382787A, and the name is "a high-speed motion control card device based on FPGA". These two patents provide a high-speed digital servo card or motion control card based on FPGA, but the card does not have servo closed-loop calculation, photoelectric For servo functions such as encoder sampling, the FPGA is not used as a processor, but is only used to complete the conversion of host commands to pulse signals. In addition, the former patent uses the RS-485 / 422 bus to transmit pulse signals to the motor drive module in one direction. The feedback signal cannot be closed-loop; 3. The application number is 200510019331.0, the publication number is CN 1752874A, and the name is "Embedded motion control method and device based on system-on-chip". This technology provides an embedded motion control based on system-on-chip method, but this method is implemented by embedding an IP core on the SOC chip, which itself does not have the communication capability of the field bus and cannot realize the expansion of multiple nodes; 4. The application number is 200810039195.5, the publication number is CN 101308483.A, and the name is " IEEE 1394 communication interface system for motion controllers", this technology provides a bus communication interface system for motion controllers, but this technology does not have the ability of optical fiber communication, only supports IEEE 1394 protocol, and must cooperate with proprietary motion controllers The use of the controller has relatively large limitations; five, the application number is 03125368.7, the publication number is CN 1519672A, and the name is called "embedded multi-axis motion controller". This technology provides a motion controller based on DSP, but the technology Each function needs corresponding chip support. In addition, this technology does not involve the design of the bus interface, so it cannot be applied to the current bus communication occasions; Multi-axis motion control card with serial bus", this technology discloses a multi-axis motion control card based on RS-232 serial bus, but this technology focuses on describing the specific form of RS-232 interface, and does not involve processor design and bus Communication Interface

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