基于STM32+FPGA的多轴运动控制器的设计  

Design of Multi Axis Motion Controller Based on STM32+FPGA

作　　者：胡呈祖 周军连[1] HU Chengzu;ZHOU Junlian(The Fifth Research Institute of Electronics of Ministry of Industry and Information Technology,Guangzhou Guangdong 510610,China)

机构地区：[1]工业和信息化部电子第五研究所,广东广州510610

出　　处：《机床与液压》2021年第12期82-86,共5页Machine Tool & Hydraulics

摘　　要：运动控制器是数控机床、高端机器人等自动化设备控制系统的核心。为保证控制器的实用性、实时性和稳定性,提出一种以STM32为主控制器、FPGA为辅助控制器的多轴运动控制器设计方案。给出了运动控制器的硬件电路设计,将S形加减速算法融入运动控制器,提高了控制精度,可有效避免过冲、振荡等现象的发生。在三维点胶机平台上对运动控制器的性能进行了测试,结果表明:点胶机各轴能按照设定的轨迹运动,运行平稳且实时性高,具备良好的应用前景。Motion controller is the core of control system of automation equipments such as CNC machine tools and advanced robots.In order to ensure the practicability,real-time and stability of the controller,a design scheme of multi axis motion controller with STM32 as the main controller and FPGA as the auxiliary controller was proposed.The hardware circuit design of the motion controller was given,and the S-shape acceleration and deceleration algorithm was integrated into the motion controller,which improved the control accuracy and effectively avoided overshoot,oscillation and other phenomena.The performance of the motion controller was tested on the platform of the three-dimensional dispenser.The results show that each axis of the dispenser can move according to the set trajectory,the operation is stable the real-time performance is high,so it has a good application prospect.

关 键 词：多轴运动控制器 STM32+FPGA S形加减速算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]