Research And Development Of A Motion Controller Based On FPGA

With the development of modern microelectronic technology, motion control system is developing towards to be open, intelligent and integrated. Nowadays, motion controllers which can be plugged into PC to utilize its powerful information processing abilitiy are widely used in various areas for motion control. Thus, after thorough investigation of motion control technology, a motion control card based on FPGA with PCI interface was designed and developed in this thesis.Firstly, I designed a general scheme of the motion control card according to goals of function; detailedly analyzed and improved the acceleration & deceleration algorithm, interpolation algorithm and position servo control algorithm. Furthermore I completed the designing of these algorithms on the platform of FPGA using VHDL or Verilog HDL, so the scheme could fully utilize hardware's privilege of operation speed and parallel computing associated with some flexibility. On the other hand, in order to enhance the integration and the reliability, many function units were designed and implemented in the FPGA, including a PCI bus interface, data buffering module, encoder signal processing circuits, D / A converter interfaced digital I/O signal processing circuits.Secondly, the hardware design of the motion control card was discussed in detail, such as the peripheral circuits of the FPGA, the PCI bus interface circuits, the analog output circuits, the encoder input circuits and the interface circuits of general purpose I/O. The characteristics and functions of the driven development tool-Windriver were analyzed,and the design methods and procedures of Windriver for PCI bus driver were also discussed in this thesis.After accomplished designing and debugging the control algorithms and hardware circuits, I set up a test environment and completed function tests to verify the feasibility and validity of this motion control card.