FPGA IP Core Design Applied For Motion Control Of Modern Electronics Manufacturing Equipments

Motion control technology has been widely used in many fields. With the development of modern electronics and Electronics Manufacturing Equipments, motion control technology has become one of the key technologies which is indispensable. This paper studies using hardware logic to realize motion control related algorithms according to the characteristics of motion control requirements of modern electronic production equipment. And a soft IP core based on Field-Programmable Gate Array(FPGA) is designed to combine the motion control technology and FPGA technology, making full use of the hardware-like computing speed and parallel processing capabilities of FPGA, enabling high-speed high-precision control.In order to achieve a FPGA based soft IP core for motion control application, firstly this paper analyzes the differences between the software implemention and hardware implemention of the algorithm, and developed the functional requirements of the IP core, and divided sub-modules of the motion control IP core with modular design approach and top-down method.Then,this paper studied the hardware logic realization of S-curve acceleration and deceleration planning, line interpolation, arc interpolation, fine interpolation, pulse velocity measurement method and PID control.In accordance with FPGA structure characteristics, this paper successfully implements the algorithms described above using Verilog Hardware Description Language.And through improving algorithm and optimizing it’s structure and using logic resources legitimately, this design give full play to the advantages of FPGA’s parallel processing, greatly improving the calculating speed of acceleration and deceleration planning, and reducing the delay of interpolation operation.The using of the translation based asymmetric S-curve/T-curve acceleration and deceleration planning method, decimal frequency divider based pulse fine interpolation, CORDIC algorithm based hardware arc interpolation,makes high-precision motion control in FPGA practical. In addition, we also studied the hardware implemention of pulse velocity measurement method and PID Controller.Finally,the function of this design is verified on a Xilinx Spartan-6 FPGA based motion control card prototype. Integrating the UART controller and this IP together, we built a double-axis line-arc interpolation motion control system with continuous asymmetric S curve planning, and achieved the desired function on the linear motor platform.