The invention relates to the technical field of industrial
automation control and robots, in particular to a heterogeneous high-real-time multi-axis
robot cooperative
motion control system and method.The
system comprises an SoC main
control layer, an FPGA driving layer and a hardware
interconnection layer, the SoC main
control layer adopts a heterogeneous SoC
chip, an ARM processor is responsible for track planning and task scheduling, an FPGA logic deployment reconfigurable PID calculation engine is responsible for FPGA logic deployment, and the FPGA driving layer is responsible for FPGA logic deployment. A multi-axis position ring and speed ring
algorithm is realized through the
time division multiplexing processing unit; the FPGA driving layer comprises a plurality of FPGA coprocessors, and an FOC
current loop IP core is instantiated to execute bottom layer
vector control related operation; the hardware
interconnection layer adopts an EPPI protocol supporting topology awareness,
dynamic bandwidth allocation and a ping-pong buffering mechanism, and efficient transmission of a control instruction and feedback data is achieved. Through hierarchical control and hardware
collaborative design, the problems that an existing multi-axis
control system is large in calculation
delay, insufficient in synchronization precision and low in hardware
resource utilization rate are effectively solved.