Research And Development Of A Motion Controller Based On DSP And FPGA

Recently, with the development of micro-electronics and power electronics, motion control system is developing towards generalization, intelligence and miniaturization. Now, motion controllers based on DSP and FPGA are becoming the main trend. They can easily be plugged-in PC to combine their motion control abilities with the information processing capabilities of PC, which have the advantages of powerful information processing capability, strong motion control ability and good openness. After investigating motion control technology, a motion controller based on DSP and FPGA with PCI interface was developed in the thesis.Firstly, the hardware of the motion controller is designed. The hardware design of the motion controller is discussed in detail, such as the peripheral circuits of the DSP and FPGA, the PCI bus interface circuits, the analog output circuits, the encoder input circuits and the interface circuits of general purpose I/O.In order to enhance the integration and the reliability, many function units are designed and implemented in a FPGA, including a PCI bus target device controller, dual port RAM, DDA interpolation circuits, DAC interface circuits, encoder signal processing circuits and digital I/O signal processing circuits.Based on improved digital PID and feed-forward control, a closed loop position servo controller is designed, and its parameters are also regulated. Experiment results showed that the servo controller can work well.Finally, PCI driver of the motion controller is developed with the WinDriver, and the design steps of the driver are discussed in detail.