基于SOC的步进电机多轴运动控制器的设计  

Design of stepper motor multi-axis motion controller based on SOC

作　　者：关建文 陈占军 王连明 汪云云 GUAN Jianwen;CHEN Zhanjun;WANG Lianming;WANG Yunyun(Institute of Computational Intelligence,School of Physics,Northeast Normal University,Changchun 130024,China;Shenzhen Spark Automation Technology Co.,Ltd.,Shenzhen 518000,China;School of Ocean Science and Technology,Hainan Tropical Ocean University,Sanya 572022,China)

机构地区：[1]东北师范大学物理学院计算智能研究所,吉林长春130024 [2]深圳星火自动化科技有限公司,广东深圳518000 [3]海南热带海洋学院海洋科学技术学院,海南三亚572022

出　　处：《现代电子技术》2022年第7期163-167,共5页Modern Electronics Technique

基　　金：吉林省科技发展计划(20170204035GX,20170204050GX)。

摘　　要：为了解决当前多轴运动控制器技术存在的灵活性低、多轴同步性较差、开发难度大以及成本较高等问题,设计并实现了一款基于片上系统(SOC)的步进电机多轴运动控制器。整个运动控制器由上位机和下位机两部分构成,上位机负责运动控制器参数的设定与反馈信息的接收;下位机负责运动控制算法的规划、步进电机的驱动以及外部限位信号的实时采集,同时针对系统异常等突发事件,会自动将报警信息进行存储,可供用户进行异常分析。最后,通过逻辑分析仪和Python对整个系统进行性能指标测试。测试结果表明,基于SOC的步进电机多轴运动控制器稳定性好、可控性强、同步性高,具有很强的可行性和实用价值,对多轴运动控制器的发展具有重要意义。A stepper motor multi-axis motion controller based on system on chip(SOC)is designed and implemented to solve the problems of low flexibility,poor multi-axis synchronization,difficulty in development and high cost in the current multiaxis motion controller technology.The entire motion controller consists of two parts,named the upper computer and the lower computer.The former is responsible for the parameter setting of the motion controller and the reception of feedback information,while the later is responsible for the planning of the motion control algorithm,the driving of the stepping motor and the real-time acquisition of the external limit signal.In addition,in the case of emergencies,for example,system abnormalities,the alarm information will be automatically stored for users to analyze the abnormalities.The performance indexes of the whole system are tested by logic analyzer and Python.The test results show that the multi-axis motion controller based on SOC has good stability,strong controllability and high synchronization.Therefore,the designed controller has strong feasibility and practical value,which is of great significance to the development of multi-axis motion controllers.

关 键 词：多轴运动控制器 步进电机 SOC 电机驱动 电路设计 信号采集 软件设计 性能测试 

分 类 号：TN02-34[电子电信—物理电子学]