Flexibility motion control IP (Intellectual Property) core and implementation method thereof

Abstract

The invention discloses a flexibility motion control IP (Intellectual Property) core and an implementation method thereof, belonging to the field of motion control. The IP core comprises a acceleration / deceleration module, an interpolation module, a pulse counting module, a pulse generation module, a bus controller and an RAM (Random Access Memory) interface module. The flexibility motion control IP core and the implementation method thereof aim to solve the problems that high speed and high precision cannot be achieved due to incapability of further reducing a control period since a motion control algorithm has a long running period in a general MCU (Micro Controller Unit) or DSP (Digital Signal Processor). The IP core has the characteristics of short control period and high output pulse precision, non-symmetrical linear acceleration and deceleration can be achieved, non-symmetrical S-shaped curve acceleration and deceleration can be achieved, two-axis or three-axis linear interpolation with the linear or the S-shaped curve acceleration and deceleration can be achieved, and two-axis arc interpolation at an uniform speed also can be achieved. Through the adoption of the IP core, motion control relevant algorithm is realized in a Verilog hardware description language soft core mode, the motion control relevant algorithm can be implemented in an FPGA (Field Programmable Gate Array), can be implemented in an ASIC (Application Specific Integrated Circuit) mode, and can be integrated into SoC (System On Chip), the typical working frequency is 100MHz, and feasibility is provided for building a flexibility motion control system.

Description

technical field [0001] The invention relates to the research field of motion control, in particular to a flexible motion control IP core and an implementation method. Background technique [0002] Generally, servo motors have three control modes: speed control mode, torque control mode, and position control mode. As a system with inertia and load, the servo system needs to be controlled for acceleration and deceleration regardless of the control method. When the servo motor goes from a speed (v 1 ) to another velocity (v 2 ), you need to plan acceleration and deceleration. Currently proposed methods include linear acceleration and deceleration, exponential acceleration and deceleration, S-curve acceleration and deceleration, and trigonometric function acceleration and deceleration. Commonly used in engineering are linear acceleration and deceleration and S-curve acceleration and deceleration. Linear acceleration and deceleration has the advantages of simple calculation ...

AI Technical Summary

Problems solved by technology

The current open motion control cards mostly use software to calculate the acceleration and deceleration curves. The software adopts serial calculations, and the calculation speed is relatively slow. In order to complete an interpolation calculation in each cycle, a high-speed DSP or MCU is required to execute it, and the cost is relatively high. high, and it is difficult to further reduce the control cycle

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