FPGA-based motion controller with a high bandwidth current regulator

Abstract

In this paper, a motion controller based on a Field Programmable Gate Array (FPGA) with a high performance current regulator is presented. This system contains a processor and a high bandwidth current regulator as a peripheral, and all of these are implemented on a single-chip FPGA. The execution time of the current regulator is less than 200 ns at 100 MHz clock frequency. Thanks to this fast execution, the inevitable digital delay, which is 1.5 times the sampling period in a PWM inverter has been reduced to a half of the sampling period. As the result, the control bandwidth of the current regulator has been extended up to about 3 kHz at 10 kHz PWM switching frequency. By exploiting the performance of the current regulator, the speed regulation bandwidth also enhanced up to 700 Hz. The experimental results are presented to demonstrate the validity of the proposed system and the performance of the regulator.