Design of Interpolation Algorithm in the Multi-Axis Motion Control System

This paper describes an interpolation algorithm in the multi-axis motion control system, which can achieve six-axis interpolation operations, greatly improving the processing efficiency. Using modular design idea on the Quartus II platform, by DDA interpolation theory, interpolation modules are built through VHDL. And these interpolator modules are connected into schematic diagrams. By those schematic diagrams a linear interpolator, a circular interpolator and a composite interpolator are formed. The corresponding functions of those interpolators have been simulated on the Quartus II platform. The simulation shows that this interpolation algorithm is effective to complex multi-axis motion control system.

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Research on Distributed Multi-Axis Motion Control System Based on CANopen

Key Engineering Materials ◽

10.4028/www.scientific.net/kem.579-580.680 ◽

2013 ◽

Vol 579-580 ◽

pp. 680-685

Author(s):

Guang You Yang ◽

Zong Mei Tang ◽

Zhi Yan Ma

Keyword(s):

Control System ◽

Real Time ◽

Motion Control ◽

Distributed Control ◽

Modular Design ◽

Protocol Stack ◽

Distributed Control System ◽

Software Module ◽

Motion Control System ◽

Control Requirement

The 32-bit ARM Cortex-M3 core processor Stm32f107vc which integrates two sets of bxCAN interfaces is used as hardware platform to achieve the design of hardware module and software module in this paper. Firstly, real-time multi-tasking operating system μCOS-II is ported to stm32 processor, then open source protocol stack microCANopen which is high real-time and reliable is transplanted under the μCOS-II, so a design of CANopen slave station is achieved. The CAN analyzer which is equipped with monitor trace functionality is used as CANopen master station to start the network, with three CANopen slave stations and one HMI, a distributed multi-axis motion control system based on CANopen which achieves network management and synchronous transmission of data in distributed control system is designed. On above basis, Fuji ALPHA5 Smart servo is used as executive member, modular design of reconfigurable motion control algorithm is realized, furthermore, The flexible module configuration enables the designer to develop systems conveniently according to the change of control requirement and network topology. This distributed control system not only has good real-time performance and stability, but also can reduce the complexity, enhance the flexibility of control system and save cost.

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An Implement of FPGA Based PCI Controller Device and Improvement of DDA Arc Interpolation

Abstract and Applied Analysis ◽

10.1155/2014/301646 ◽

2014 ◽

Vol 2014 ◽

pp. 1-9

Author(s):

Zhengjie Zhang ◽

Zhandong Yu

Keyword(s):

Control System ◽

Motion Control ◽

Interpolation Algorithm ◽

Motion Controller ◽

Motion Control System ◽

Surface Mount ◽

Comprehensive Performance ◽

Pci Interface ◽

Nonlinear Curve ◽

Accuracy And Stability

The main purpose of this paper is to develop a new kind of PCI slave device serving as a motion controller for a biaxial motion control system. This kind of controller device is a new realization scheme of PCI devices, which is embedded with a deeply customized PCI interface block instead of traditional PCI interface chips, which will greatly promote the comprehensive performance of the device. Besides, we improved the popular and widely used DDA arc interpolation algorithm, promoting its performance in both accuracy and stability, and integrated it into our device, allowing the ability of the moving parts to move along nonlinear curve paths. Currently, this kind of controller device has been successfully applied on a surface mount machine which is also developed by our lab. As a result, the controller device performs well and is able to satisfy the requirement of accuracy and velocity of the surface mount machine. And its reliability and stability are also remarkable.

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Ultrasonic sensor system for the uses in intelligent motion control system of a mobile robots group

Proceedings of the Mavlyutov Institute of Mechanics ◽

10.21662/uim2010.1.009 ◽

2010 ◽

Vol 7 ◽

pp. 109-117

Author(s):

O.V. Darintsev ◽

A.B. Migranov ◽

B.S. Yudintsev

Keyword(s):

Control System ◽

Mobile Robot ◽

Mobile Robots ◽

Motion Control ◽

High Speed ◽

Ultrasonic Sensor ◽

Sensor System ◽

Motion Control System ◽

Speed Sensor ◽

Working Space

The article deals with the development of a high-speed sensor system for a mobile robot, used in conjunction with an intelligent method of planning trajectories in conditions of high dynamism of the working space.

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