三度空間曲線之Bicubic DDA研究及FPGA實作

Abstract

在機械加工業中，多軸運動控制技術佔有舉足輕重的地位。早期在運動路徑規劃上使用DDA演算法，期望可得到更佳之路徑規劃。本論文是針對三度空間曲線運動做加工路徑之規劃和設計。在開迴路運動控制系統之架構下，提出BicubicDDA運動插值法之設計；將空間曲線之位置由幾何映射方式得到獨立之單軸規劃路徑，並利用DDA積分器之模組化設計以硬體實踐BicubicDDA之加工曲線運動。並以嵌入式系統作為實作平台；利用嵌入式平台的數位訊號處理器之高速運算能力及µC-OS/II即時核心作業系統，再藉由FPGA可程式晶片完成整體之系統規劃。希冀利用即時多工之系統架 構下改良傳統系統設計之不足，並達到三維度空間曲線即時運動的目的。

Mutiple axes motion control system is primary and important control algorithms for improving to generate motion commands on CNC machine. In the early researches, the DDA algorithms is used widely to generate the cutting path commands. In this thesis, the Bicubic DDA algorithms is designed and implemented for 3D space motion control, and practiced in open-loop system architecture. By mapping 3D cutting contour in each axis, the Bicubic DDA algorithms is easy to be practiced in an embedded system, which including in high-performance DSP with real-timeµμC/OS-II kernel and programmable FPGA chip. For the advantage of the low-cost, convenient and domesticable feature of embedded system, the 3D space motion command is implemented for real-time motion control.