With the rapid development of electronic technology, computer technology and automation control technology, motion controller, as a key component of motion control technology, plays an increasingly important role in the field of industrial automation. According to the application status of motion controllers in all walks of life, this paper classifies and summarizes the motion controllers, and predicts the development trend of motion controllers combined with the development process of motion control systems.
In Mechatronics equipment, motion control technology is one of the key core technologies. Motion control technology transforms the predetermined control instructions into the expected motion of the controlled object, realizes the precise control of the position and speed of the controlled object in the process of motion. Motion controller is one of the motion control technologies.
The key components of the system. With the rapid development of electronic technology, computer technology, communication technology and automation control technology, motion controller, as a key component of Mechatronics equipment, plays an increasingly important role in the field of industrial automation. Motion controller is more and more widely used in automation equipment of various industries, such as CNC machine tools, engraving machines, cutting machines, drilling machines, thermostatic element printers, punching machines, laser engraving, laser cutting, packaging machines, textile machines, food processing, drawing machines, dispensing machines, welding machines, electronic assembly automatic detection, and even in aviation. Aerospace and national defense are also widely used. As the core of the motion controller, the low-end uses 8-bit or 16-unit MCU as the processor. Its main advantage is that the price is relatively low, but the disadvantage is that the speed is slow and the control accuracy is low.
Therefore, this kind of motion controller is suitable for some automation equipment of point motion or contour motion control with low speed or low precision of motion control. Motion controller with special chip as the core, LM628 and LM629 special motion control chips produced by National Semiconductor Corporation of the United States, and MCX304 and MCX501 motion control chips produced by NOVA of Japan are special processors specially designed for precise control of stepping motors and servo motors. The products are applied to CNC machine tools, engraving machines and workmanship. Industrial robots, medical equipment, winding machine, automatic warehouse, plotter, dispensing machine, IC manufacturing equipment and other fields. As the core motion controller, the PMAC motion controller produced by Delta Tau Company in the United States uses Motorola’s DSP56003 as the processor. Domestic motion controllers based on DSP usually use the C2000 series introduced by TI Company, such as TMS320F2812 and TMS320F28335, as the core chips of motion controllers. There are two main types of motion controllers: SOPC based on embedded IP hard core in FPGA and SOPC based on embedded IP soft core in FPGA. For example, the second generation of on-chip programmable soft core and hard core processors with 32-bit instruction integration introduced by Altera Company adopt Harvard structure. Multi-CPU motion controller, this type of motion controller uses two or more CPUs, such as multi-CPU motion controller based on ARM and FPGA, multi-CPU motion controller based on DSP and FPGA, and multi-CPU motion controller based on ARM DSP FPGA [2-3]. At present, motion controllers are mainly divided into three categories: PC-based motion controllers, embedded motion controllers and all-software motion controllers. Based on PC motion controller, the mode of “PC motion control card” is adopted. The motion control card is equipped with API function library for users to call. Users develop PC interface system according to their needs. The motion control card is connected with industrial computer or PC through PCI bus, ISA bus, USB interface or network interface [4]. For example, PMAC Motion Controller of DeltaTau Company, GE/GT/GH Motion Controller of Gugao Company in Shenzhen, PCL/PCM/PCI Motion Controller of Yanhua Science and Technology Development, etc. The controller is a kind of independent motion controller which can run separately from PC, such as ARM DSP embedded motion controller and GUC series embedded motion controller developed by Gu Hi-tech Company. Software-based motion controller and motion control function of motion controller are all realized by software algorithm. Hardware circuit realizes the connection between industrial computer and servo driver and external interface. Software-based motion controllers such as OpenCNC of MDSI, ServoWorks developed by SoftServo, PA8000NT of PowerAutomation, Germany and GO series of high-tech motion controllers. With the rapid development of electronic technology, computer technology and automation control technology, the development of motion controller is adapted to it. Its development trend is towards multi-axis, network, open, intelligent and reconfigurable.
Multiaxial motion controller, which contains PLC module and MC module, can achieve more precise controlled work.
At the same time, multi-axis can make its control content more.
Nowadays, because of its efficient and stable motion control system, it has been widely used in packaging, printing, cutting, CNC machine tools, automated warehouse and other fields of automation control. Networked motion controllers and motion controllers are networked in two aspects. First, the motion controllers connect with industrial computers or other devices through Ethernet technology to realize network interconnection. In addition, the motion controllers communicate with drivers or field devices through network communication technology, and communicate with each other through network. Communication technology such as ethernet, Fieldbus protocol, etc.
Open-architecture motion controller is a new generation of industrial controller. Open-architecture motion controller can be applied to a wider range of applications.
According to the characteristics of the industry, the development of the host computer can realize the interconnection between the host computer and the controller. At the same time, the components of different manufacturers can be integrated in the same place. Seamless integration is implemented on these platforms, which reduces the cost of development.
Intelligent motion controller, this type of controller has adaptive control functions, such as adaptive adjustment of control parameters according to load changes, automatic selection of control model, self-tuning, automatic fault detection, automatic diagnosis, automatic repair and other intelligent functions. The reconfigurable motion controller can reconstruct the hardware and software of the controller according to the actual needs of users. The hardware of the motion controller can be reconfigured, and the hardware structure of the controller can be dynamically adjusted according to the actual needs of users. The software of the motion controller can be reconfigured.
According to the actual needs of users for the functional modules of the controller, modularization is adopted to increase, tailor, modify and reconstruct.