Design And Experiment Of A Motion Control System Based On FPGA

Motion control technology is a kind of technology that integrated automatic control,computer technology, and sensor technology in order to achieve real time control of movingmotors. Industrial robot motion controllers which directly affect the accuracy andperformance of industrial robots, is the core of industrial robots. Most current industrial robotmotion controllers are the structure of ASIC based or DSP+FPGA based. These motioncontrollers’ real time quality is not good or their algorithm is too simple and not easy fordevelopment, and their interface is are always too simple. All these shortcomings make thecommon motion controllers fail to meet the complex motion control systems of industrialrobot.With the development of the EDA and the advanced capability of the large-scale logicalprogrammable device, the SOPC technology is getting mature. It has been widely used inmany fields of science and technology now. SOPC is a hardware/software co-designtechnology. It integrates the advantages of MCU, ASIC and DSP, has the flexibility ofprogrammability, and is supported by abundant IP (Intellectual property). Therefore it canprovide a more flexible and efficient solution for the motion control system. Throughintegrating all the functions of a system in a single FPGA by applying the technology ofSOPC, we can simplify the design circuit, reduce design cycles, and made the control systemeasier to update and maintain.Based on this, this paper proposed a structure of motion controller entirely based onFPGA(Altera Cyclone III). In this structure, FPGA act as the main processor of the motioncontroller to ensure the system’s real-time quality and finish complex motion controlalgorithms, and the realization of the functions including the DDA interpolation, speed control,pulse generating control, encoder feedback module et. Considering the robot motion controlneeds, this paper researched the motion controller’s hardware system, designed the minimumcircuit board and the external circuit board. Completed the relevant circuit board’s productionand commissioning. This paper also researched the software structure of the robot motioncontrol system and the motion control interpolation algorithm. Finally this paper makes asimulation of the algorithm and the function of all modules (described by Verilog HDL) in ModelSim, and then the motion controller is verified by using in the AC server system.Through commissioning, the robot motion controller achieved the desired performancerequirements. It is stable and reliable and easy to expand and upgrade.