Paper Details

Communicating Process Architectures (CPA)
 Title: FPGA Based Control of a Production Cell System
 Conference: Communicating Process Architectures 2008
 Authors: Marcel A. Groothuis, Jasper van Zuijlen, Jan F. Broenink
Robotics and Mechatronics, CTIT Institute, University of Twente
 Abstract: Most motion control systems for mechatronic systems are implemented on digital computers. In this paper we present an FPGA based solution implemented on a low cost Xilinx Spartan III FPGA. A Production Cell setup with multiple parallel operating unit is chosen as test case. The embedded control software for this system is designed in gCSP using a reusable layered CSP based software structure. gCSP is extended with automatic Handel-C code generation for configuring the FPGA. Many motion control systems use floating point calculations for the loop controllers. Low cost general purpose FPGAs do not implement hardware-based floating point units. The loop controllers for this system are converted from floating point to integer-based calculations using a stepwise refinement approach. The result is a completely FPGAbased motion control system with better performance figures than previous CPUbased implementations. 
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