基于SOPC的多轴运动控制器设计

Design of multi-axis motion controller based on SOPC

针对实时性高、需要并行处理和实现复杂控制算法的多轴运动控制任务,设计一种基于可编程片上系统(System On a Programmable Chip)技术的多轴运动控制器,系统结构采用PC与嵌入有NiosⅡ处理器软核的运动控制器,利用大规模FPGA(Field Programmable Gate Array)作为NiosⅡ软核的载体。实际调试证明整个系统在精度、速度、集成度和可靠性等方面达到预期效果。

Aiming at the multi--axis motion controlling mission which needs high Real-Time performance, parallel process and complicated control algorithmic, a type of multi-axis motion controller is designed based on SOPC （System On a Programmable Chip） in this paper. PC and motion controller with Nios Ⅱ soft core are adopted in the system frame, and the Nios Ⅱ soft core is based on cosmically FPGA （Field Programmable Gate Array）. By practical testing, it is proved that entire system achieves the anticipation in precision, speed, integration and reliability.