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System-on-chip design of multi-axis servo controller
Author(s): 
Pages: 553-558
Year: Issue:  4
Journal: Electric Machines and Control

Keyword:  multi-axis servo control vector control time-division multiplex system-on-chip;
Abstract: The digital control algorithms and design techniques of multi-axis servo system-on-chip integration are investigated in this paper. On the basis of vector control and servo system design principle, high efficiency IP cores of FOC and servo controllers were created, including coordinate transformation, velocity measurement, SVPWM, inverse-time protection, PID regulator, electronic gear, feed-forward controller, filters, etc. In addition, the timing controller was developed via reasonable scheduling of these algorithm cells. According to the idea of time-division multiplex, the high-powered SoC of multi-axis servo controller was finally implemented on an advanced FPGA platform, incorporating with various IP modules as well as a RISC microprocessor. Experimental results show that the designed single-chip system can receive analog or digital command, or pulse-type instruction, with configuration of different operation mode for torque, speed or position control;furthermore, each axis is independent of the others, and all parameters are programmable on line.
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