Development of a FPGA-based motion control IC for high-speed gantry-type boring and milling machine tool

摘要

Tn this paper, a new FPGA-based motion control IC with embedded DSP core for high-speed gantry-type boring and milling machine tool is proposed to control the two decoupling linear motors. The FPGA-based IC has functions of trajectory generation, decoupling control, adaptive control, closed current loop control, current sensing module, encoder logic, PWM modulation, communication module and analog to digital converter. The complicated control algorithm is implemented in the DSP core by software due to the heavy computation and low sampling frequency control. The fully digital circuits of controllers and function modules are designed in FPGA by hardware owing to the simple computation and high sampling frequency control. The proposed motion control IC is designed to reduce synchronization error of two driving motors of the gantry-type boring and milling machine tool and to improve the accuracy of the system. The mechanical coupling system is decoupled into two separate systems by the decoupling controller, and two driving motors keep the same speed with the adaptive controllers. Current control circuit is designed to process current control and coordinate transformation. Finally, the effectiveness and reliability of the proposed system is verified by some simulation results. With the proposed control IC, driving motors possesses the advantages of good synchronization control performance and robustness to uncertainties.