A flexible motion control ip core and its implementation method

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. Servo system is a system with inertia and load, no matter what kind of control method, the servo motor needs to perform acceleration and deceleration control. When the servo motor changes from a speed (v 1 ) to transition to another velocity (v 2 ), the acceleration and deceleration planning is required. At present, the proposed methods include linear acceleration and deceleration, exponential acceleration and deceleration, S-curve acceleration and deceleration, and trigonometric function acceleration and deceleration. Linear acceleration and deceleration and S-curve acceleration and deceleration are commonly used in engineering. Linear acceleration and deceler...

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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