Design and implementation of a motion controller for XYZ table based on multiprocessor SoPC

The new field programmable gate array (FPGA) technologies enables a Nios-II multiprocessor and an application IP to be integrated into an SoPC (system on a programmable chip) developing environment. Therefore, this study presents a motion control IC for XYZ table under this SoPC environment. Each axis of XYZ table is driven by a permanent magnetic synchronous motor (PMSM). In implementation, it has two modules in proposed motion control IC. One module is Nios-II multiprocessor, which performs the function of trajectory planning and position control of XYZ table. The other module performs the function of three PMSMs´ current loop control, that each includes SVPWM generation, coordinate transformation, PI controller and the pulse detection of the quadrature encoder. The former is implemented by software with C code in the Nios-II embedded multiprocessor. The latter is described by VHDL and implemented by hardware in FPGA. At last, to confirm the effectiveness of the proposed FPGA based motion control IC for XYZ table, an experimental system with an XYZ table, an FPGA experimental board, a peripheral board for analog to digital transformation, three inverters and three rectifiers has been set up and some experimental results have been demonstrated.