Multi-axis Current Loop Control Based on FPGA

Abstract

Abstract In this paper, according to the three-loop control structure, FPGA is used as the control chip of the current loop, and the parallel control of the multi-axis motor is realized by hardware nation. The current loop code is written in Verilog HDL language, and the simulation results of each control module are given by the SignalTap simulation tool. The main contents include a parallel sampling of the multichannel encoder, parallel sampling of multichannel current, vector coordinate transformation control (CLARK module, PARK module, IPARK module), PI controller module, etc. The results show that the rich logic resources and powerful parallel processing ability of FPGA enable a single FPGA to control multiple motors at the same time. Compared with the traditional serial execution of the program, this method greatly reduces the whole calculation time of the servo system.