Motion control system suitable for multi-degree-of-freedom platform

Abstract

The invention provides a motion control system suitable for a multi-degree-of-freedom platform, and the system comprises a master station and a slave station, the slave station is a motion controller,and the slave station comprises a motion data buffering control module, a motion pulse generation unit, a data processor, and an anti-interference protection unit. The motion data buffer control module and the data generation unit are designed and realized by adopting an ARM processor and are used for receiving Ethernet control information of the master station central controller, and the motiondata buffer controller and the data generation unit are used for analyzing the control information into position points which can be identified by the data processor and sending the position points tothe data processor through a bus; the data processor is realized by a programmable FPGA (Field Programmable Gate Array), receives the position point information of the main control part, buffers andsynchronizes the control data, and outputs motor pulse driving information; and the collected motor state information is synchronously processed and fed back to the main control part. The systemcan besuitable for a multi-degree-of-freedom platform environment, and the flexibility is higher.

Description

technical field [0001] The invention relates to the technical field of motion controllers, in particular to a multi-stage motion controller suitable for a multi-degree-of-freedom platform. Background technique [0002] Motion control (Motion Control) usually refers to the conversion of predetermined control schemes and planning instructions into desired mechanical motions under complex conditions to achieve precise position control, speed control, acceleration control, torque or force control of mechanical motion. [0003] The motion controller is a special controller that controls the operation mode of the motor: for example, when the motor is controlled by the travel switch to control the AC contactor, the motor drags the object to run up to the specified position and then runs down, or the time relay is used to control the forward and reverse of the motor Or turn for a while and stop for a while and then turn for a while and then stop. The application of motion control i...

AI Technical Summary

Problems solved by technology

Another kind of motion controller with a dedicated chip as the core processor has a relatively simple structure and poor versatility, and can only be used in open-loop control methods

The simple combination of the current motion controller is difficult to adapt to the application conditions of the multi-degree-of-freedom platform, resulting in poor flexibility and difficult to adapt to the field of high-precision control

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