四轴电机伺服控制ASIC芯片

Application specific integrated circuits of multi-axis motor servo controller

针对采用串行架构、纯软件方式的DSP/MCU方案在多轴、高实时性、高性能场合所存在的不足,设计了一款全数字硬件化实现的四轴电机伺服控制ASIC芯片。充分结合ASIC所具有的全定制、并行、固化参数无法更改等特性,首先确定芯片的架构,将高实时性且相对固定的电机控制算法采用纯硬件方式实现,而灵活性要求较高的功能用嵌入式处理器实现;然后对四轴运动控制引擎的相关模块进行了高柔性化设计,重点介绍了四轴运动控制引擎的高柔性控制器、高柔性反馈检测单元、信号处理单元以及时序控制单元等,从而使芯片的灵活性和面积之间达到平衡。实验结果验证了芯片的正确性。

The features of digital signal processor（DSP）/micro controller unit（MCU） include serial architecture and software model,but in high real-time and high performance occasion,there are deficiencies using DSP/MCU,so all-digital pure-hardware 4-axis servyo control application specific integrated circuits （ASIC） is proposed.In accordance with the characteristics of ASIC,such as full-customization,parallelism,and incorrigibility of curing parameter,chip architecture was developed firstly.Real-time and relatively fixed algorithms were realized by pure hardware,and high flexible algorithms were realized in embedded processor.Then the correlative modules of four-axis motion control engine were designed.The flexible controller,flexible feedback measurement unit,signal processing unit and timing unit were discussed in detail.Lastly,the experimental results verify the correctness and effectiveness of proposed chip.