基于ARM+DSP+FPGA的机器人多轴运动控制器的设计与研究

摘要

为了满足机器人运动控制器实时性的要求,在分析机器人运动控制器体系结构特点的基础上,提出一种基于ARM+DSP+FPGA的机器人运动控制器.硬件电路采用模块化设计,简要介绍了软件设计.其中,针对运动过程中由于进给速度的改变而产生冲击、失步、超程或者震荡等现象,提出的梯形加减速控制策略能够通过对插补速度进行控制来提高控制精度.为了避免复杂机械系统的动力学建模,选用PT(位置与时间)运动控制模式,可对任意速度进行规划.仿真与实验测试结果表明,机械系统在PT动态模式下没有加减速度的冲击,运动更加平稳,具有良好的运动性能.%In order to meet the real-time requirement of robot motion controller,based on the analysis of the architecture features of the robot motion controller,a robot motion controller based on ARM + DSP + FPGA is proposed.The hardware circuit uses the modular design,the software design is introduced briefly.Among them,the movement process due to the change of feed rate shock,out of step,super shock or other phenomena,acceleration and deceleration control strategy can be controlled through the interpolation speed to improve the control precision of the trapezoid.In order to avoid the dynamic modeling of complex mechanical systems,the PT (position and time) motion control mode can be used to carry out the planning of any speed.The results of simulation and experiment show that the motion of the mechanical system is more stable and has better performance without the impact of addition and subtraction in the dynamic model of PT.