Research and development of DSP based servo motion controller

According to the requirements of open motion control, the open servo motor motion controller based on DSP and CPLD was researched and developed. The controller can perform high speed and high accuracy interpolation and achieve the function of electronic gear. This paper presents the hardware structure, the principle of motion controller, and the function of electronic gear applied in synchronization motion control. The controller communicates with the upper computer through PCI or USB bus, and the position loop adopts PID modulation with speed and acceleration feed forward algorithm. The NURBS (Non-Uniform-Rational-B-Spline) interpolation algorithm, time division interpolation principle, and development method of customer control software are presented. Experiments and simulation show that the controller has the advantages of good real-time performance, small following error, highly machining accuracy.