Design of Motion Controller Based on Multi Core SOPC Technology

To meet the demands of developing the intelligent servo system and miniaturized motion controller, advantages of SOPC (System-on-a-Programmable-Chip) technology were analyzed from various directions of application. On this basis, a motion controller product concerning on SOPC was developed, and a motion control hardware coprocessor IP core is equipped, in which the AD conversion, RD (resolver-to-digital) conversion, closed-loop calculation, and SVPWM output functions were designed, so as to achieve high-speed parallel control, system self-diagnostics, and redundancy control. Furthermore, based on multi-core CPU and coprocessor, a parallel control system architecture was constructed, redundancy control strategy for fault self-diagnostics and the multi-task hierarchical implementation scheme are designed. The control and calculation performances of hard core, soft core and coprocessor are tested, and the system test are carried out. The results verifies the proposed motion controller to be an effective solutions for high-speed motor control and intelligent servo.