中文摘要：

为满足多轴位控系统对各协调联动轴位置信号的同步采样精度需求，在主从分布式多轴运动控制系统架构下,提出采用FPGA实现基于自定义总线的“同步锁存、顺序读取”采样机制。在自主研发的主从分布式多轴运动控制系统实验平台上进行多轴位置信号同步采样实验。实验结果表明，所提出的同步采样机制可以有效减小顺序采样延时导致的编码器信号计数偏差；在八轴运动控制系统中各个运动轴接收到同步锁存信号的时延不确定性小于15n8：在对1MHz以内的光电编码器信号同步采样时两轴间的计数误差稳定在1个脉冲之内。由此验证所提出的多轴同步采样机制能满足位置信号的同步采样要求，保证在轴数增加的情况下不会对同步采样精度产生过多影响。

英文摘要：

To meet the precision requirement of synchronous sampling of position signal in multi-axis position control system and under the architecture of master-slave distributed multi-axis motion control system,the sampling mechanism of synchronous latch and sequential read is proposed based on the custom bus using FPGA. The experiment on synchronous sampling of multi-axis position signal is carried out on the independently-developed experimental platform of distributed multi-axis motion control system. The experiment results show that： the proposed synchronous sampling mechanism can effectively reduce the counting deviation of the encoder signal resulting from the sequential sampling delay; the delay uncertainty of the synchronized latch signal that each moving axis is received is less than 15 ns in the eight-axis motion control system; the counting error between two axes keeps stable in 1 pulse when photoelectric encoder signal within 1MHz takes sample synchronously. Therefore,the proposed multi-axis synchronous sampling mechanism is verified to meet the requirement of synchronous sampling of position signal,ensuring that the increase of axes will not have much impact on the precision of synchronous sampling.