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Development of DSP and FPGA Based 4-Axis Motion Controller

机译：基于DSP和FPGA的4轴运动控制器的开发

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This paper presents a DSP and FPGA based 4-axis motion controller, which use host PC as the platform. By adopting the strategy of two stage interpolation, the proposed motion controller supports 2-axis circular interpolation and 3-axis linear interpolation, and its maximum output pulse frequency of each axis can be up to 8 MHz. The controlling algorithms, such as improved coarse interpolation based on the time division principle, T-curve and S-curve velocity profile generation and the error compensation for the position loop, are implemented by DSP to ensure the high performance of the proposed motion controller. Meanwhile, the FPGA integrates PCI bus controller, dual port RAM, second-stage interpolation, encoder feedback logic circuit etc., which allows a flexible, compact, low-cost solution for various applications. Experimental results demonstrate that the presented motion controller features the merits such as the good real-time performance and high machining precision, and it can be used for a wide range of applications in numerical control system.
机译：本文介绍了一种基于DSP和FPGA的4轴运动控制器，它们以主机PC为平台。通过采用两阶段插补的策略，该运动控制器支持2轴圆弧插补和3轴线性插补，每个轴的最大输出脉冲频率可高达8 MHz。 DSP实现了基于时分原理的改进的粗插补，T曲线和S曲线速度分布图生成以及位置环的误差补偿等控制算法，以确保所提出的运动控制器具有高性能。同时，FPGA集成了PCI总线控制器，双端口RAM，第二级插值，编码器反馈逻辑电路等，从而为各种应用提供了灵活，紧凑，低成本的解决方案。实验结果表明，所提出的运动控制器具有实时性好，加工精度高等优点，可广泛应用于数控系统中。

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