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Reseach of Least Deviation Algorithm Motion Controller Based on SOPC

Author: ZhongJianNan
Tutor: LiLanYing
School: Harbin University of Science and Technology
Course: Applied Computer Technology
Keywords: motion controller field programmable gata array the least deviation algorithm
CLC: TN47
Type: Master's thesis
Year: 2011
Downloads: 17
Quote: 0
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Abstract


Motion control means that using a certain technology to force the mechanical equipments to complete a specified trajectory according to a certain way. Motion controller is a device that submit some instructions to these mechanicals, in a general way, motion controller usually submit controller signal to motor and made the motor goes in a specified way. Early years ,motion controller using analog control had some fault like low precision, low speed and can not programmable. Today motion controller has been All-digital, replenishment all faults with analog control that talked above. The motion controller which designed by this paper using SOPC technology, using this technology, a completely hardware system can be build in one FPGA chip and can rewrite the hardware logic, having hardware programmable.First of all, choosing Appropriate Interpolation algorithm so as to make the motion controller can submit linear interpolation signal and circle interpolation signal, combo the two algorithm can drawn every trajectory. The most frequently-used interpolate algorithm are minimum deviation algorithm, digital integration algorithm and the least deviation algorithm .the least deviation algorithm can implement line and circle interpolation with a high accuracy.Secondly, implemented a motor controller using least deviation algorithm in a piece of FPGA chip. Link the motor controller IP core with PowerPC 405 which integrated in Xilinx FPGA and other peripheral device, finally trasplant linux operation system, design driver and application program for motion controller and Formation a SOPC system.Finally, analysis Sub-modules of motion controller IP core, derivation the driver equation, state equation and truth table to authentication the correctness of hardware logic. After IP core designed completed, using ModelSim to simulate the IP core output signals to authentication the correctness of IP core. after the software designed complete, the COM ports and LED diode can be authentication the correctness of software system.

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CLC: > Industrial Technology > Radio electronics, telecommunications technology > Microelectronics, integrated circuit (IC) > LSI,ultra LSI
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