摘  要：针对当前运动控制器不能满足柔性化制造的要求，提出了一种基于TMS320C2812 DSP、可编程逻辑器件CPLD和FPGA的高性能运动控制器硬件的设计方法。考虑到DSP、CPLD和FPGA的特点，采用模块化设计，应用DSP作为核心处理器完成复杂的控制运算，CPLD、FPGA作为协处理器完成密集型运算。利用FPGA和CPLD的现场可编程的特点，实现了系统的可重构性。实验表明，该结构可以完成多轴联动高精度的实时控制，且具有可重构性。
关键词：运动控制；DSP；可重构；CPLD；FPGA

Abstract: In order to meet the requirements of flexible manufacturing, a hardware designing method of a high-performance motion controller was proposed based on DSP TMS320C2812, complex programable logic device (CPLD) and FPGA. According to their characteristics, under the modularizing design principle, this paper utilized DSP as core processor to accomplish complicated computing of controlling, while CPLD and FPGA as coprocessor to complete intensive calculation. And the reconfigurable design based on the FPGA and CPLD is realized to enhance the flexibility of the system. Experiment results show that the proposed structure completely meets the request of real-time controlling, and it is reconfigurable.
Key Words: Motion control; DSP; Reconfigurable; CPLD; FPGA