基于PCIe总线的机器人多轴控制器的研究  

Research on PCIe Bus Based Multi-axis Controller for Robots

作　　者：张一东 徐一栋 陈海卫 ZHANG Yidong;XU Yidong;CHEN Haiwei(School of Intelligent Manufacturing,Jiangnan University,Wuxi Jiangsu 214122,China;Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology,Wuxi Jiangsu 214122,China)

机构地区：[1]江南大学智能制造学院,江苏无锡214122 [2]江苏省食品先进制造装备技术重点实验室,江苏无锡214122

出　　处：《机床与液压》2024年第21期35-42,共8页Machine Tool & Hydraulics

摘　　要：为了解决多轴机器人成本高和开放性不足的问题,提出一种新的多轴控制器设计方案。该方案以PCIe总线作为通信接口,FPGA作为核心处理器,ARM微处理器作为从处理器。以FPGA+ARM为基础实现控制器硬件电路搭建。针对笛卡尔空间下轨迹规划引入S型加减速快速规划算法,确保控制器插补过程中各关节速度和加速度的连续。在PT运动模式下使用脉冲平摊算法保证了脉冲信号的稳定输出。最后对笛卡尔空间下控制器的圆弧插补功能进行仿真与验证,结果表明该控制器能够实现预定轨迹且各关节速度与加速变化平滑。In order to solve the problems of high cost and lack of openness of multi-axis robots,a new multi-axis controller design scheme was proposed.In this scheme,PCIe bus was used as the communication interface,FPGA was used as the core processor,and ARM microprocessor was used as the slave processor of the multi-axis controller.The design was based on FPGA+ARM to realize the controller hardware circuit construction.The S-type acceleration and deceleration fast planning algorithm was introduced for trajectory planning in Cartesian space to ensure the continuous velocity and acceleration of each joint during controller interpolation.The pulse leveling algorithm was used in PT motion mode to ensure the stable output of pulse signals.Finally,the circular interpolation function of the controller in Cartesian space was simulated and verified.The results show that the controller can complete the predetermined trajectory and the speed and acceleration of each joint change smoothly.

关 键 词：机器人多轴控制器 S型加减速算法 PT运动模式 

分 类 号：TP615[自动化与计算机技术—控制理论与控制工程]