TY - GEN
T1 - System-on-a-chip including generic framework of motion controller using disturbance observer based acceleration controller
AU - Kurumatani, Hiroki
AU - Katsura, Seiichiro
N1 - Funding Information:
On the other hands, the precision is supported by improved robust control theory and power electronics technology. This technology enables fast operation of predefined tasks with high precision, which is difficult to be attained by the human work. The combination of the intelligence and the precision eventually makes the machines substitute for expert engineers and increase production volume of quality products.
Publisher Copyright:
© Springer Nature Switzerland AG 2020.
PY - 2020
Y1 - 2020
N2 - A system on a chip (SoC) for a motion controller using a field-programmable gate array (FPGA) and ARM processors is developed, and a task-partitioning technique is presented. Motion control requires fast and real-time input and output and the FPGA is a good tool to manage them. However, flexible and complex command generations are difficult to implement. Here, the SoC FPGA is a good solution because it has processors beside the FPGA. In designing on this platform, a feedback controller achieving high robustness is on the FPGA, and a feedforward controller determining a motion is on the processor. Then, a disturbance observer (DOB), one of the 2-degree-of-freedom (DOF) controllers, and an acceleration controller are introduced to decouple these designs. The DOB is simple to design with a few parameters and then provides a general framework for motion control. Introduction of the SoC FPGA enables to attain both the high robustness and the flexible command generation.
AB - A system on a chip (SoC) for a motion controller using a field-programmable gate array (FPGA) and ARM processors is developed, and a task-partitioning technique is presented. Motion control requires fast and real-time input and output and the FPGA is a good tool to manage them. However, flexible and complex command generations are difficult to implement. Here, the SoC FPGA is a good solution because it has processors beside the FPGA. In designing on this platform, a feedback controller achieving high robustness is on the FPGA, and a feedforward controller determining a motion is on the processor. Then, a disturbance observer (DOB), one of the 2-degree-of-freedom (DOF) controllers, and an acceleration controller are introduced to decouple these designs. The DOB is simple to design with a few parameters and then provides a general framework for motion control. Introduction of the SoC FPGA enables to attain both the high robustness and the flexible command generation.
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U2 - 10.1007/978-3-030-56970-9_25
DO - 10.1007/978-3-030-56970-9_25
M3 - Conference contribution
AN - SCOPUS:85098261502
SN - 9783030569693
T3 - Lecture Notes in Electrical Engineering
SP - 333
EP - 345
BT - ELECTRIMACS 2019 - Selected Papers - Volume 2
A2 - Zamboni, Walter
A2 - Petrone, Giovanni
PB - Springer Science and Business Media Deutschland GmbH
T2 - 13th International Conference of the IMACS TC1 Committee, ELECTRIMACS 2019
Y2 - 21 May 2019 through 23 May 2019
ER -