Paper Details

FPGA Based Control of a Production Cell System

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

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 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.

Proceedings:

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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