Design And Implement Of A Modular Servo Controllerbased On DSP And FPGA

Aim at the development need of Simulation platform, designed and developed the servo controller based on FPGA、DSP and ARM with the real –time Ethernet Ether CAT for communication, which integrated many kinds of interfaces and functions.First, introduced the research about the servo controller comprehensively, and analyzed the hardware of the servo controller and the basic servo control algorithm. According to the function of the simulation platform, proposed the design solutions composed by the axis controller, the main controller and the real-time Ethernet. The axis controller with DSP and FPGA as the core device, was responsible for the closed loop control of a single axis. The main controller with ARM and FPGA as the core device, was responsible for the configuration and management of all the axis controllers. The communication between axis controllers and main controller adopted Ether CAT to achieve real-time performance.Second, analyzing the function about the axis controller and the need of interface, adopted the double hardware architecture and four layers PCB structure, and accomplished the hardware design and debug about the core and the peripheral circuit. Through the FPGA program design, realized I/O’s read and write, D/A and A/D signal conversion, incremental and absolute encoder signal processing, and other functions. With the DSP program design, realized the typical instruction planning, the flexible configuration of parameters, including series compensation, forward feedback correction control algorithm.Third, as the main controller was responsible for the axis controller’s configuration and management, designed the scheme, which core part was FPGA and DSP. After debugging the hardware, programed the FPGA and ARM to implement the management of the axis controller and the communication wi th peripheral equipment.In order to reduce the difficulty, chose the u C/OS-II to realize the multitask programming.Finally, designed the hardware and software of real-time Ethernet bus Ether CAT. Ether CAT was based on master-slave control structure, the master station sent Ethernet frames to slave station, and the slave station extracted or inserted data according to the data frame. The master station was based on the network card in a computer, and the slave station was based on the chip ET1100. ET1100 was connected to the axis controller by the parallel bus, and FPGA on the axis board read and wrote the ET1100 by CFI controller, realizing the communication between the master station and the axis controller.Compared with the original servo controller based on industrial PC, the scheme had the advantage with low cost, small volume, high modularity degree, good scalability, high real-time performance. Not only can better meet the development and requirement of the Simulation platform control system, but also can be used as a general servo controller to other servo system.