Motion control IC for linear motor drive X-Y table using FPGA technology

In this paper, a motion control IC for linear motor drive X-Y table using FPGA (Field programmable gate array) technology is presented. Firstly, the mathematical model of the X-Y table is defined. Secondly, an adaptive fuzzy controller (AFC) is introduced and adopted in position loop of X-Y table to improve the motion tracking performance under unmodelled uncertainty condition. Thirdly, in implementation, an FPGA embedded by a Nios II processor is used to design the overall circuits of the motion control IC which the scheme of position/speed/current control for two PMLSMs (permanent magnetic linear synchronous motors) is realized by hardware in FPGA and the motion trajectory algorithm for X-Y table is implemented by software using Nios II embedded processor. To reduce the FPGA resource usage, an FSM (Finite state machine) joined by a multiplier, an adder, a LUT (Look-up table), some comparators and registers is used to model the overall AFC algorithm. Therefore, a fully digital motion controller can be implemented by an FPGA using hardware/software co-design technology which will make the motion controller of the X-Y table more compact, flexible and better performance.