Architecture of multi-axis motion controller for precision electric drive

摘要

This paper presents the development results of multi-axis motion controller for precision electric drive. There are presented hardware and software architectures of motion controller based on the single digital signal processor. The special attention is paid to the analysis of digital computing precision, estimation and improvement of sensor resolution. The designed controller allows effective servo control with frequency 20 kHz of motion stages based on Cartesian, gantry or planar motors. The tests of prototype demonstrate the effective control of the planar synchronous motor with nanopositioning resolution of 25 nm.