河南科技大学学报：自然科学版

针对液晶盖板检测系统多轴运动控制实时性低、可靠性差的问题，设计了一种液晶盖板检测系统的多轴运动控制器。该控制器以高级精简指令集微处理器（ARM）和现场可编程逻辑门阵列（FPGA）为控制单元，其中ARM搭载RT-Thread实时操作系统，通过以太网传输控制协议（TCP）与上位机数据交互，基于修正梯形加减速算法完成速度规划。FPGA根据速度规划的脉冲参数产生脉冲，通过输出脉冲/方向信号实现执行机构的位置控制。实验结果表明：本文所设计的运动控制器应用于4轴液晶盖板检测系统中，实现了多轴平稳运行，位置控制误差为±0.129 mm。

Aiming at the problems of poor real-time (RT) and poor reliability of multi-axis motion control of liquid crystal display cover inspection system,a multi-axis motion controller for liquid crystal display cover inspection system was designed in this paper.The controller used advanced RISC machine (ARM) and field programmable gate (FPGA) as the control unit.ARM was equipped with RT-Thread real-time operating system,interacted with the host computer through Ethernet transmission control protocol (TCP),and the speed planning was completed based on the modified trapezoidal acceleration and deceleration algorithm.The FPGA generated pulses according to the pulse parameters of the speed programme and realized the position control of the servo system by outputting pulse/direction signals.The experimental results show that the motion controller designed in this paper is applied to the 4-axis liquid crystal display cover inspection system and achieves smooth multi-axis operation with a position control error±0.129 mm.