FPGA-BASED MOTION CONTROL IC FOR XYZ TABLE WITH ADAPTIVE FUZZY CONTROL

摘要

In this paper, based on FPGA (Field Programmable Gate Array) technology, a motion control IC with adaptive fuzzy controller (AFC) for XYZ table is presented. In the controller design, to cope with the system uncertainty problem, an AFC by applying a fuzzy basis function and a rule adjustable algorithm is adopted to the position control of XYZ table for increasing the motion tracking performance. In implementation, SoPC (System on a Programmable Chip) environment which can embed a Nios II processor in FPGA is applied to design the XYZ table's motion control IC which the servo control algorithms in current loop, speed loop and position loop for three PMSMs (Permanent Magnet Synchronous Motors) are executed in FPGA by hardware and the motion trajectory scheme for XYZ table is realized by software using Nios II embedded processor. In addition, to diminish the hardware resource usage, an FSM (Finite State Machine) is presented to describe the behaviour of the AFC and VHDL (VHSIC Hardware Description Language) is used to design the FSM. At last, an experimental system with an XYZ table, one FPGA board and three inverters is constructed and some experiments of step response, circular and spiral motion tracking response are validated the performance of the proposed FPGA-based motion control IC.