A FPGA-based motion control IC design

In this paper, a new motion control IC is developed and implemented in Field Programmable Gate Array (FPGA). The core of this design is a flexible motion control engine, designed with Verilog HDL language, and implementation on an industry standard FPGA provided by Xilinx. The new FPGA based motion control IC has functions of closed current loop control, closed position/velocity loop control, incremental encoder logic, PWM modulation, fault/brake logic, velocity estimator, host communication module, UART module and Delta-Sigma analog to digital converter. The hardware system executes quickly in dedicated parallel hardware without timing overhead penalty of a serial processor. The update rates of the current control loop and position/velocity control loop are 120 kHz and 20 kHz, respectively. Experimental results are given to verify the effectiveness of the proposed FPGA based motion control IC. © 2005 IEEE.