基于STM32的点对点运动控制器设计  

Design of Point-to-point Motion Controller Based on STM32

作　　者：赵从富[1] 陈安[1] 胡跃明[1] 

机构地区：[1]华南理工大学 精密电子制造装备教育部工程研究中心,广东广州510641

出　　处：《计算机测量与控制》2012年第4期994-995,1007,共3页Computer Measurement &Control

基　　金：广东省战略性新型产业LED项目(x2zdB2110260)

摘　　要：提出一种基于STM32的运动控制器,采用S形加减速控制脉冲频率变化,减小系统振动及提高定位精度,采用数据采样插补方法进行轨迹规划,实时迭代算法计算运行速度控制输出脉冲的频率,有效提高了脉冲输出效率;分析了该方法产生的误差,提出误差实时计算补偿策略;实验表明,控制器在点对点的运动中重复定位精度高,稳定性好;该控制器已经成功应用到两轴点对点的运动控制系统中。This paper designs the hardware structure Of motion controller based on STM32 chip. S curve acceleration and deceleration method is adopted to control the frequency of output pulse, reduce the vibration and improve positioning accuracy of the system. Use data sampling interpolation to plan the trajectory, and use iterative algorithm to calculate the running velocity in the real time way. This method has effectively improved the output pulse efficiency. We analyze the error caused by this method and propose the real--time error calculation and compensation. The experimental results show the designed motion controller has high repeat position accuracy, good stability and wide range of output pulse frequency. This method has successfully applied to two axis point--to--point motion system.

关 键 词：运动控制器 轨迹规划 S曲线 插补 点对点运动 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]