FPGA-based interface for control of a hybrid micropositioning stage

An FPGA-based custom interface for the control of a hybrid actuated micropositioning stage using a dSPACE rapid control prototyping system is presented in this paper. The interface comprises IO for precise sensing of positions, currents and voltages as well as algorithms for the control of the DC-motor and for the linearization of piezoelectric actuators in order to meet requirements for the positioning in the sub micrometer range. Despite these facts, the developed interface is quite generic and it can be easily adapted to a wide class of plants, devices and protocols - in most cases by means of reprogramming of the FPGA.