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基于ARM-FPGA的EtherCAT总线多轴运动控制系统设计的中期报告 Abstract Inthismidtermreport,thedesignofamulti-axismotioncontrolsystembasedonARM-FPGAandEtherCATbusispresented.Theoverallsystemarchitectureandkeycomponentsareintroduced,includingthehardwaredesignoftheARM-FPGAboard,thecommunicationinterfacedesignofEtherCATbus,andthesoftwaredesignofthecontrolalgorithm.Thecurrentprogressandfutureworkarealsobrieflydiscussed. 1.Introduction Multi-axismotioncontrolsystemsarewidelyusedinvariousindustries,suchasrobotics,automation,andCNCmachining,toachievepreciseandefficientmotioncontrolofmechanicalsystems.Thedevelopmentofembeddedsystems,FPGA,andindustrialcommunicationstandardshassignificantlyimprovedtheperformanceandcost-effectivenessofmulti-axismotioncontrolsystems. Inthisproject,weaimtodesignamulti-axismotioncontrolsystembasedonARM-FPGAandEtherCATbus,whichcancontrolthemotionofmultipleservomotorswithhighprecisionandsynchronization.Thesystemarchitectureconsistsofthreemainparts:theARM-FPGAboard,EtherCATcommunicationmodule,andservomotordrivers.TheARM-FPGAboardisresponsibleforreceivingcontrolsignalsfromtheuserinterface,calculatingthemotiontrajectory,andgeneratingthePWMsignalsforservomotors.TheEtherCATcommunicationmoduleisusedtoestablishreal-timecommunicationbetweentheARM-FPGAboardandservomotordrivers,enablingpreciseandsynchronizedmotioncontrol. 2.SystemArchitectureandKeyComponents TheoverallsystemarchitectureisshowninFigure1.TheuserinterfaceisimplementedwithaPCapplication,whichsendscommandstotheARM-FPGAboardviaanEthernetconnection.TheARM-FPGAboardconsistsofanARMCortex-A9processorandaXilinxArtix-7FPGA.TheprocessorrunstheEtherCATMasterstackandthecontrolalgorithm,whiletheFPGAisresponsibleforgeneratingthePWMsignalsforservomotors. TheEtherCATcommunicationisimplementedwithanEtherCATslavecontrollerandaPHYchip.TheslavecontrollerhandlestheEtherCATframeprocessing,whilethePHYchipprovidesthephysicallayerinterface.TheservomotordriversareconnectedtotheEtherCATbusandreceivecontrolsignalsfromtheFPGAthroughthePWMoutput. 3.