基于SOC的多轴步进电机同步运动控制研究  

Researchon Synchronous Motion Control of MultiAxis Stepper MotorBased on SOC

作　　者：张鑫 ZHANG Xi

机构地区：[1]上海市智能制造及机器人重点实验室 [2]上海大学机电工程与自动化学院

出　　处：《计量与测试技术》2024年第9期49-52,共4页Metrology & Measurement Technique

摘　　要：针对在工业控制领域中对多轴步进电机传动比的灵活设置与多轴同步性需求,提出一种基于SOC的同步运动控制系统。通过PC界面设置多轴传动比和主轴运动参数,采用ARM软件系统进行计算与下传,用FPGA接收并解析,实现梯型速度规划算法,从而同步输出多轴脉冲。同时,通过逻辑分析仪确定多轴脉冲数、脉冲延时与速度曲线。结果表明:该系统能实现高精度多轴同步运动控制。A synchronous motion control system based on SOC is proposed to meet the requirement of flexible set-ting of multi-axis stepper motor transmission ratio and multi-axis synchronization in industrial control field.The multi-axis transmission ratio and spindle motion parameters are set through PC interface,calculated and transmit-ted by ARM software system,received and analyzed by FPGA,and the ladder speed planning algorithm is realized,so as to output multi-axis pulses synchronically.At the same time,the number of multi-axis pulse,pulse delay and velocity curve are determined by logic analyzer.The results show that the system can realize high precision multi-axis synchronous motion control.

关 键 词：SOC 多轴运动控制 FPGA 速度规划算法 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TM383.6[自动化与计算机技术—控制科学与工程]