System-on-a-chip including generic framework of motion controller using disturbance observer based acceleration controller

Hiroki Kurumatani, Seiichiro Katsura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish
Title of host publicationELECTRIMACS 2019 - Selected Papers - Volume 2
EditorsWalter Zamboni, Giovanni Petrone
PublisherSpringer Science and Business Media Deutschland GmbH
Pages333-345
Number of pages13
ISBN (Print)9783030569693
DOIs
Publication statusPublished - 2020
Event13th International Conference of the IMACS TC1 Committee, ELECTRIMACS 2019 - Salerno, Italy
Duration: 2019 May 212019 May 23

Publication series

NameLecture Notes in Electrical Engineering
Volume697
ISSN (Print)1876-1100
ISSN (Electronic)1876-1119

Conference

Conference13th International Conference of the IMACS TC1 Committee, ELECTRIMACS 2019
CountryItaly
CitySalerno
Period19/5/2119/5/23

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering

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