基于多CPU架构伺服驱动控制器的研究

摘要

论述伺服驱动控制器的实现方法,对ARM+FPGA+DSP架构的多CPU控制器进行具体分析,将其原理和优势展现出来;这种架构控制器系统分工明确,提高了算法的实时性、提高了控制器对外接口EtherCAT的实时性、提高了系统的稳定性.这种架构方案在本公司的伺服驱动器产品中进行了实验,现场的应用取得了良好的效果,体现出这种技术的现实意义.%The servo drive controller of implementation method was discussed ,its principle and advantages were showed by analyzing the multi-CPU cooperation of "ARM+FPGA+DSP". The system of a clear division of responsibilities was made ,the algorithm of real-time ability was improved;the interface of the EtherCAT real-time was improved;the stability of the system was improved. This method had been applied to a company in servo drive products,the practical application has achieved good effect,the results show that the technology has practical significance.