TITLE:
Design and Implementation of FFPIV Scheme for Closed Loop Motion Controller
AUTHORS:
Ngo Ha Quang Thinh, Jae-Gark Choi, Won-Ho Kim
KEYWORDS:
Motion Controller, DSP, Motion Control System, Feed-Forward, Motion Profile
JOURNAL NAME:
Intelligent Control and Automation,
Vol.5 No.2,
May
8,
2014
ABSTRACT:
To satisfy the
requirements of motion control for industrial machine, a multi-axis motion
controller based on DSP is developed in this paper. The motion controller
consists of DSP which plays a main role in this design; DPRAM to make sure the
rapid and reliable communication with host; FPGA to handle the task of address
decoder and receiving feed-back encoder signal; and several peripheral logic
circuits. In the part of hardware design, overall structure of motion control
system is presented. Then, the Feed-Forward Proportional-Integral-Velocity
(FFPIV) scheme which introduces KV in term of velocity loop to
achieve the accurate, smooth and real-time response is proposed in the software
developing part. The experiment data are carried out to indicate that this
motion controller has advantages of superior performance and highly machining
precision.