FPGA based Control of a Production Cell System

Groothuis, Marcel A. and Zuijlen van, Jasper J.P. and Broenink, Jan F. (2008) FPGA based Control of a Production Cell System. In: WoTUG Technical Meeting on Communication Process Architectures 2008, 7-10 Sept 2008, York, United Kingdom.

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Abstract:	Most motion control systems for mechatronic systems are implemented on digital computers. In this paper we present an FPGA based solution implemented on a low cost Xilinx Spartan III FPGA. A Production Cell setup with multiple parallel operating units is chosen as a test case. The embedded control software for this system is designed in gCSP using a reusable layered CSP based software structure. gCSP is extended with automatic Handel-C code generation for configuring the FPGA. Many motion control systems use floating point calculations for the loop controllers. Low cost general purpose FPGAs do not implement hardware-based floating point units. The loop controllers for this system are converted from floating point to integer based calculations using a stepwise refinement approach. The result is a complete FPGA based motion control system with better performance figures than previous CPU based implementations.
Item Type:	Conference or Workshop Item
Copyright:	© 2008 IOS Press
Faculty:	Electrical Engineering, Mathematics and Computer Science (EEMCS)
Research Group:	Robotics and Mechatronics (CE)
Link to this item:	http://purl.utwente.nl/publications/62472
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