Design of Multi-Axis Servo Controller Based on MPSoC Architecture
Wenxuan Zhang, Bangji Wang, Dong Wang, Qingxiang Liu, Song Qiu · 2021 IEEE 2nd China International Youth Conference on Electrical Engineering (CIYCEE) · 2021
This paper proposes a structure of multi-axis controller based on multiprocessor systems-on-chip (MPSoC), and to achieve such design,we start with a single-axis servo motor, which utilizes the software and hardware co-design technology to realize its position, speed and current loop control. For the position and speed loop control, software programs are developed to tackle its high-flexibility characteristics, while for current loop control, hardware modules are implemented, as its current vector control algorithm is relatively simple and easy to achieve. Secondly, multi-axis servo module controller on chip is designed and constructed by using MPSoC architecture: the master controller, multi-axis single-servo drive control module, and network communication module ect., are integrated into a single-chip field programmable gate array (FPGA). Finally, to verify the performance of the proposed design, a two-axis motor system is built and a series of experiment are conducted. The experimental results show that this design is able to control each axis independently and synchronously.