基于DSP的运动控制器的研究与实现

Research and Implementation of DSP-based Motion Controller

步进电机定位控制是上海光源(SSRF)光束线站控制系统的主要任务,论文基于SEED_EDC138开发板设计了基于DSP的步进电机运动控制器,实现了基本的定位控制,并针对光束线站控制需求,设计了梯形速度曲线、坐标系统和操作员界面,测试结果表明,该控制器可以实现步进电机的精确定位。

A stepper motion controller for the synchrotron beam lines has been developed .The hardware struc-tureand the software algorithm are described in detail in this paper .Basic functions are achieved , including the absolute motion , the relative motion , the trapezoidal velocity curve and so on .Depending on the requirements of the beam line control tasks , a three -layer coordinate system and a specialized operator interface are de -signed.Finally, all the functions have been tested in the lab .The result shows that the controller can perform high precision positioning control .