The Servo Controller Based On FPGA

As a result of the long-term operation in the mechanical systems temperature, wear and disturbance, the general PID controller that used in industrial servo applications can not change the control parameters in accordance with the system changes that makes control performance worse. Adaptive PID control algorithm that presented in this thesis can guarantee the same performance during the official run by adjustment through trial operation.New algorithm puts new requirements for the motion control card. Without changing the original motion control card DSP + FPGA architecture, the thesis re-plans the functional distributions, implements the controller functions in FPGA instead of DSP. By making full use of the advantage of parallel computing using FPGA, it reduces the control circle and improves the control effect.During the controller implementation process, the thesis comprehensively considers the influence of control performance and FPGA resource consumption. The thesis also verifies the number system and rounding procedure impacts on control performance. It also seeks the balance between control performance and resource consumption by carefully chosen the bits wide. Further more, the thesis also analyses three different implementation structures impacts of on the controller, and ensures the designed time series by simulation.The ideal controller structure has been required by running three different realization in development board and comparing the control performance. It is presented the analysis of resource usage and time consuming. The selected chips can support four-axis synchronous operation without affecting the realization of other functions. The same work about achieving an eight-axis controller operation, the consuming time of the controller implemented in FPGA is only one twentieth that compared to the original implementation in DSP. The controller presented in this thesis that has good control performance, rational use of resources and great advantage in time computing. This controller can be applied in practical use.