Velocity profile algorithm realization on FPGA for stepper motor controller

Abstract

In order to optimize the open loop control strategy of stepper motor, the velocity profiles of stepper motor were studied. There are three widespread used velocity profiles: trapezoidal, parabolic, and S-curve profiles. In this paper, trapezoidal velocity profile was chosen for further study. In order to accurately generate an arbitrary trapezoidal velocity profile, a new velocity profile generation methodology is developed. It shows how to deal with computational complexity and balance performance against resources requirements using field programmable gate field (FPGA). Thus, a high performance stepper motor controller can be achieved by combining a system on a chip (SOC) with this hardware. Experimental results verify the accuracy and efficiency of the proposed approaches.