A Design of a Modular Distributed Motor Controller using Embedded Micro-Control Chip

• Main Authors: Shih-Hsiang Yen, 嚴士翔
• Other Authors: Chyi-Yeu Lin
• Format: Others
• Language: zh-TW
• Published: 2014
• Online Access: http://ndltd.ncl.edu.tw/handle/53522482416132179920

碩士 === 國立臺灣科技大學 === 機械工程系 === 102 === With the advance of science and technology, automatic machines continually replace human labor. The industrial robot arm can be flexibly applied to different functions. However, owing to factors such as large controller size, heavy weight and high costs, implementation on intelligent home system applications has been a great challenge. This study focuses on the design of one-axis distributed motor controller for future multi-axis system. For modularization and embedded distributed architecture, the controller consists of micro SOC, as microprocessor, combined with DC motor driver and communication IC. SOC (System on Chip) can support many communication interfaces and functions despite its small size. Since the controller can be placed inside a machine without additional control elements and cables, it can be more flexibly used in small space. A CAN Bus based communication interface was chosen to independently read and send messages between different controller units. Division of motion planning and position control in the embedded program results in improved stability and instantaneity on multi-axis control system. The controller is applicable to different motion mechanisms. Hence, various one-axis controls could be integrated to a general multi-axis control system resulting in reduced development time as well as cost.