Design Of Motion Controller Based On Domestic SOC FPGA

Electro-optical pod which have the close attention of the countries in the field of military is an important part of unmanned aerial vehicle and combat helicopter.Motion control technology is the focus of the research of the electro-optical pod.The advanced motion control technology can not only enhance the performance of electro-optical pod,but also benefit other many fields which using motion control technology,such as national defense,automation equipment,medical industry,etc.Our country has appeared kinds of motion controller with independent technology,but the main control chip need to be imported from abroad.That is limited by the monopoly of foreign chip technology,it threaten the security and autonomy of military equipment and civil products in our country at the same time.Therefore,it not only can satisfy the need of electro-optical pod,but also has a great significance to the development of our countries' motion control technology to research a motion controller which has independent intellectual property rights from the underlying components to the software technology.A series of research and exploration has been carry out for the goal that designning a motion controller based on domestic SOC(system on a chip)FPGA(field programmable gate array)chip in this paper on the basis of the project—Development of Domestic Control System based on PHYTIUM CPU(Central Processing Unit).Firstly,the design scheme of the motion controller based on domestic SOC FPGA was established after the study and analysis of the motion controller's development situation at home and abroad,the FPGA's development status at home and abroad and the various motion controller design scheme.The SOC FPGA chip—M7A12N0 had been selected as the main control chip through the investigation and analysis,and the motion controller's design architecture had been developed on the M7A12N0.Then to study and analyse the theory of angle and speed measurement about encoder,and using methods of sub module design to design the FPGA logic circuit of angle and speed measurement about incremental encoder and absolute encoder accordingly on the hardware development platform—PLC(Programmable Logic Controller)slave station which make the M7A12N0 as the core by making use of Primace7.3 which is M7A12N0'spackaged development software,Modelsim se 10.1a which is the simulation software and Verilog HDL(HDL:Hardware description language).After that the ARM(Advanced RISC Machines)logic controller had been designed in the Cortex-M3 kernel of M7A12N0 by applying the classic PID(Proportion Integration Differentiation)control method,Keil uvision4 which is ARM development software and C language.And then the two angle and speed measurement circuit of the two kinds of encoders and controller were combined through the structural relationships of FPGA logic and ARM logic in M7A12N0.And four control modes were tested through the form that the host computer to send control commands on the experimental platform afterwards.The accuracy of the FPGA logic circuit of angle and speed measurement about incremental encoder and absolute encoder had been proved in the corresponding experimental platform.And the test results shown that the motion controller which based on M7A12N0 can achieve the motion control function accurately.