Abstract
This paper is to implement a multiaxis servo controller and a motion trajectory planning within one chip. At first, SoPC (system on a programmable chip) technology which is composed of an Altera FPGA (field programmable gate arrays) chip and an embedded soft-core Nios II processor is taken as the development of a multiaxis motion control IC. The multiaxis motion control IC has two modules. The first module is Nios II processor which realizes the motion trajectory planning by software. It includes the step, circular, window, star, and helical motion trajectory. The second module presents a function of the multiaxis position/speed/current controller IP (intellectual property) by hardware. And VHDL (VHSIC Hardware Description Language) is applied to describe the multiaxis servo controller behavior. Before the FPGA realization, a cosimulation work by ModelSim/Simulink is applied to test the VHDL code. Then, this IP combined by Nios II processor will be downloaded to FPGA. Therefore, a fully digital multiaxis motion controller can be realized by a single FPGA chip. Finally, to verify the effectiveness and correctness of the proposed multiaxis motion control IP, a three-axis motion platform (XYZtable) is constructed and some experimental results are presented.
Highlights
The integration of a multiaxis servo and motion controller into one chip and application to XYZ table, CNC (Computed Numerically Controlled) machine or robotic system, and so forth, for reducing the system volume and increasing the system performance and motion stability, have become a popular research topic in literatures [1,2,3,4,5]
The fast computational and parallel processing characteristics make it possible to integrate multiaxis servo controllers and the function of motion trajectory planning into one FPGA
Each servo controller IP performs the function of position/speed/current controller for each PMSM drive and Nios II processor executes the function of motion trajectory planning
Summary
The integration of a multiaxis servo and motion controller into one chip and application to XYZ table, CNC (Computed Numerically Controlled) machine or robotic system, and so forth, for reducing the system volume and increasing the system performance and motion stability, have become a popular research topic in literatures [1,2,3,4,5]. Each servo controller IP performs the function of position/speed/current controller for one PMSM drive and Nios II processor executes the function of motion trajectory planning. Main program establishes the initial parameters setting, the motion command setting, and so forth and the ISR (interrupt service routine) executes the motion trajectory computation, position command generation, and sending out to three controller IPs. Each internal digital circuit of position/speed/current controller IP is shown in Figure 4 and it includes one circuit of position FC and speed P controller, one circuit of current controller and coordinate transformation (CCCT), one SVPWM, one ADC interface, and one QEP interface circuit. For an example of a three-axis motion control IC, overall circuit included a Nios II processor and three position/speed/current controllers IP consume 22,688 LEs (Logic Elements), 73 embedding multipliers, 241 IO pins, and 241,792 memory bits. S0 s1 s2 s3 s4 s5 s6 s7 s8 s9 s10 s11 s12s13s14s15 s16 s17 s18 s19 s20 s21 s22 s23
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