基于多DSP的开放式并联构型装备运动控制器硬件结构设计

Hardware design of motion controller for parallel kinematics mechanisms based on MuIti-DSP

并联构型装备的控制复杂运算量大,且不同构型的并联机构逆解方程和结构参数不尽相同,这对控制系统的运算性能和开放性均提出了较高要求。针对并联装备的控制要求和特点,本文提出了一种基于多DSP并行处理结构的开放式运动控制器硬件结构,该系统实时性好,处理速度快,能够很好地满足并联构型装备高性能的控制需要。

To meet the requirements of industrialization and practicability of the Parallel Kinematics Mechanisms, the motion control system for PKM with both high performance and open architecture is urgently demanded. According to the characteristics of the PKM, a novel control architecture based on multi-DSP parallel procession is put forward. Then, the methodology for developing the controller is studied.