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Shuai He

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Proceedings Article | 28 December 2010 Paper

Development of DSP and FPGA based 4-axis motion controller

Shuai He, Xiaorong Gao, Chaoyong Peng, Yu Zhang

Proceedings Volume 7544, 75441K (2010) https://doi.org/10.1117/12.885274

KEYWORDS: Digital signal processing, Motion controllers, Field programmable gate arrays, Computer programming, Control systems, Logic, Clocks, Software development, Algorithm development, Data storage

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This paper presents a DSP and FPGA based 4-axis motion controller, which use host PC as the platform. By adopting the strategy of two stage interpolation, the proposed motion controller supports 2-axis circular interpolation and 3-axis linear interpolation, and its maximum output pulse frequency of each axis can be up to 8 MHz. The controlling algorithms, such as improved coarse interpolation based on the time division principle, T-curve and S-curve velocity profile generation and the error compensation for the position loop, are implemented by DSP to ensure the high performance of the proposed motion controller. Meanwhile, the FPGA integrates PCI bus controller, dual port RAM, second-stage interpolation, encoder feedback logic circuit etc., which allows a flexible, compact, low-cost solution for various applications. Experimental results demonstrate that the presented motion controller features the merits such as the good real-time performance and high machining precision, and it can be used for a wide range of applications in numerical control system.

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