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Paper Details

FPGA Based Control of a Production Cell System

Authors: Groothuis, Marcel A., Van Zuijlen, Jasper J.P., Broenink, Jan F.


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 unit is chosen as 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 completely FPGAbased motion control system with better performance figures than previous CPUbased implementations.


Communicating Process Architectures 2008, Peter H. Welch, S. Stepney, F.A.C Polack, Frederick R. M. Barnes, Alistair A. McEwan, G. S. Stiles, Jan F. Broenink, Adam T. Sampson, 2008, pp 135 - 148 published by IOS Press, Amsterdam

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