Title :
Motion control components´ algorithms on a chip for driving module
Author :
Lee, Wen-Yo ; Guo, Jhu-Syuan ; Chen, Chi-Pin
Author_Institution :
Comput. Inf. & Network Eng., Lunghwa Univ. of Sci. & Technol., Taoyuan, Taiwan
Abstract :
A motion control chip implementation method will be shown in this paper. The implementation is based on the Verilog HDL which is a popular tool for designing a special function FPGA, especially on the industrial field. There are several components needed in a control chip according to the motion control requirements. The major components are: encoder readers, PWM generators, subtracter/Adder, PID controller, as well as the communication ports. These algorithms have been developed on an FPGA, which is used to control an IR2100 based DC motor drive for a mobile robot. The IR2100 based drive is also been introduced for completing the article structure. Finally, we will show you that the motion driving module is applied on a more than 50 Kg mobile robot.
Keywords :
DC motor drives; adders; field programmable gate arrays; logic design; machine control; microcontrollers; mobile robots; motion control; three-term control; IR2100 based DC motor drive; PID controller; PWM generators; Verilog HDL; adder; driving module; encoder readers; mobile robot; motion control chip; motion control component algorithm; special function FPGA design; subtracter; Automatic control; Communication system control; DC motors; Field programmable gate arrays; Microcontrollers; Mobile robots; Motion control; Pulse generation; Pulse width modulation; Servomotors; Controller Algoritm; FPGA; Mobile robot;
Conference_Titel :
Power Electronics and Drive Systems, 2009. PEDS 2009. International Conference on
Conference_Location :
Taipei
Print_ISBN :
978-1-4244-4166-2
Electronic_ISBN :
978-1-4244-4167-9
DOI :
10.1109/PEDS.2009.5385713