【正文】 摘 要數(shù)控機(jī)床在整個(gè)現(xiàn)代制造業(yè)中處于基礎(chǔ)性的、核心的地位。在現(xiàn)代制造系統(tǒng)朝著集成化、綜合化和智能化發(fā)展的今天，特別是計(jì)算機(jī)的發(fā)展與普及化，深入研究新一代數(shù)控技術(shù)具有重要的意義。目前，以 DSP 為代表的高速高性能專用微處理器構(gòu)成的運(yùn)動(dòng)控制器的數(shù)控系統(tǒng)成為數(shù)控技術(shù)的發(fā)展方向，運(yùn)動(dòng)控制器將成為未來(lái)數(shù)控系統(tǒng)的核心。在本設(shè)計(jì)中，我們選用日本 NOVA 電子有限公司研制的 DSP 運(yùn)動(dòng)控制專用芯片 MCX314。MCX314 由硬件來(lái)實(shí)現(xiàn)復(fù)雜的運(yùn)動(dòng)控制算法，使得編程方便，接口簡(jiǎn)單，工作可靠，給運(yùn)動(dòng)控制帶來(lái)極大方便，可廣泛應(yīng)用于數(shù)控機(jī)床、機(jī)器人等領(lǐng)域的運(yùn)動(dòng)控制。在 MCX314 的基礎(chǔ)上，我們擬定了兩種運(yùn)動(dòng)控制器的實(shí)現(xiàn)方案，并選定基于 ARM 芯片為主控制器的實(shí)現(xiàn)方案，即采用 AT91FR40162 和 MCX314 作為主要芯片，實(shí)現(xiàn)復(fù)雜的運(yùn)動(dòng)控制功能。設(shè)計(jì)完成基于 AT91FR40162 和 MCX314 的控制器硬件電路設(shè)計(jì)；設(shè)計(jì)了 RS232 串行接口和 CAN 總線接口實(shí)現(xiàn)與其他設(shè)備通信；分析了軟件結(jié)構(gòu)特點(diǎn)并完成部分程序編寫，主要包含基本的測(cè)試操作函數(shù)和運(yùn)動(dòng)控制函數(shù)。關(guān)鍵字： MCX314　　AT91FR40162 運(yùn)動(dòng)控制器　　ITitle Design of Motion Controller Based On MCX314 AbstractNumerical control machine is on the basic and kernel position in the modern manufacture. With the modern manufacture system integrated, colligated and intelligent, especial the puter technology development and dissemination, studying the new generation numerical control and dynamics control technology is significant. At present, the numerical control system with motion controller is being to the numerical control technique development tide, motion controller will be to kernel of future numerical control system. We select DSP dynamics control specialpurpose chip MCX314 made in NOVA electron corporation in our design. MCX314 can realize the plex motion control allergic with hardware, so it has advantage of convenient programming, simple interface and reliable work. It‘s very convenient to motion control and can be applied to numerical control machine tool, robot, etc.Based on MCX314, we design two scheme of motion controller and select the scheme which base on ARM, AT91FR40162 and MCX314 are main chips, the plex motion control function can be realized. In our design, the hardware circuit of controller was pleted, the RS232 interface and CAN bus interface were designed so that the controller can municate with other device. The software structure feature is discussed and some program was finished, including basic test function and motion control function. keywords: MCX314, AT91FR40162, Dynamics ControllerII目 次 1 緒論 ..................................................................................................................................1 數(shù)控系統(tǒng)的發(fā)展 ...........................................................................................................1 開(kāi)放式數(shù)控系統(tǒng)及其研究現(xiàn)狀 ...................................................................................2　 論文主要工作 ...............................................................................................................42 運(yùn)動(dòng)控制關(guān)鍵技術(shù)分析及方案制定 ..............................................................................5 運(yùn)動(dòng)控制系統(tǒng) ...............................................................................................................5 步進(jìn)電機(jī)運(yùn)動(dòng)控制系統(tǒng) ...............................................................................................6 方案的制定 ...................................................................................................................7 MCX314 芯片 ...............................................................................................................9　 AT91FR40162 芯片介紹 ............................................................................................13　 CAN 總線技術(shù) ...........................................................................................................14　 本章小結(jié) .....................................................................................................................153 電路的運(yùn)動(dòng)控制器的硬件設(shè)計(jì) ....................................................................................16 硬件設(shè)計(jì) .....................................................................................................................16 電路的抗干擾設(shè)計(jì) .....................................................................................................23 本章小結(jié) .....................................................................................................................244 軟件設(shè)計(jì) ........................................................................................................................25 系統(tǒng)工作流程 .............................................................................................................25 控制程序特點(diǎn)與編寫 .................................................................................................26　 串口通信 .....................................................................................................................28 本章小結(jié) .....................................................................................................................29結(jié) 論 ..................................................................................................................................30致 謝 ..................................................................................................................................31參 考 文 獻(xiàn) ........................................................................................................................32附錄一：總體電路圖 ..........................................................................................................34附錄二：總體電路的 PCB 圖 ............................................................................................36目 次 III1 緒論 .................................................................1 數(shù)控系統(tǒng)的發(fā)展 .....................................................1 開(kāi)放式數(shù)控系統(tǒng)及其研究現(xiàn)狀 .........................................2　 論文主要工作 .......................................................42 運(yùn)動(dòng)控制關(guān)鍵技術(shù)分析及方案制定 .......................................5 運(yùn)動(dòng)控制系統(tǒng) .......................................................5 步進(jìn)電機(jī)運(yùn)動(dòng)控制系統(tǒng) ...............................................6 方案的制定 .........................................................7 MCX314 芯片 ........................................................9　 AT91FR40162 芯片介紹 .....................................