Performance Evaluation of Different Real-Time Motion Controller Topologies Implemented on a FPGA

Date

2009-11-18

Author

MUTLU, B. R.
Yaman, Ulaş
Dölen, Melik
Koku, Ahmet Buğra

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This paper presents a comprehensive comparison of several real-time motion controller topologies implemented on a field programmable gate array (FPGA). Controller topologies are selected as proportional-integral-derivative controller with command feedforward, sliding mode controller, fuzzy controller, and a hysteresis controller. Controllers and other necessary modules are developed using Verilog HDL and they are implemented on a ML505 development board with a Xilinx Virtex-5 FPGA chip. In order to take full advantage of FPGA and to provide a more accurate comparison, an (soft-core) embedded processor is not employed in the design. The developed modules, which include PWM generator, quadrature encoder decoder, velocity estimator, reference profile generator etc, are fully tailored for the application. To perform the necessary calculations for certain controller topologies, an open-core floating point unit (FPU) is also adopted to the design. The performances of the aforementioned controllers are rigorously evaluated via a hardware-in-the-loop simulation of a field-oriented induction motor system.

Subject Keywords

Controller design, FPGA, Hardware-in-the-loop simulation, Motion control

URI

https://hdl.handle.net/11511/40282

DOI

https://doi.org/10.1109/icems.2009.5382664

Conference Name

12th International Conference on Electrical Machines and Systems

Collections

Department of Mechanical Engineering, Conference / Seminar

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Citation Formats

B. R. MUTLU, U. Yaman, M. Dölen, and A. B. Koku, “Performance Evaluation of Different Real-Time Motion Controller Topologies Implemented on a FPGA,” presented at the 12th International Conference on Electrical Machines and Systems, Tokyo, JAPAN, 2009, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/40282.