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題名 | Development of a Servo Control IC for Drives of XYZ Table Based on SoPC Technology=應用SoPC技術研製XYZ平臺驅動器之伺服控制晶片 |
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作者姓名(中文) | 龔應時; 許哲誌; | 書刊名 | 南臺科技大學學報 |
卷期 | 31 民95.12 |
頁次 | 頁85-98 |
分類號 | 448.57 |
關鍵詞 | 系統整合可程式晶式; XYZ平臺; 現場可程式邏輯閘陣列; 空間向量脈波寬度調變; SoPC; XYZ table; FPGA; Motion control; |
語文 | 英文(English) |
中文摘要 | 本文主要應用系統整合可程式晶片(SoPC)技術來研製XYZ平臺驅動器的伺服控制晶片,此SoPC技術由Altera公司開發,包括使用現場可程式邏輯閘陣列(FPGA)元件及Nios嵌入式處理器。本文所提出的伺服控制晶片中,包括有兩個模組。一個模組執行三軸平臺軌跡規劃及位置控制器之功能,另一個模組執行三組PWM(脈波寬度調變)訊號之輸出及三組QEP(方形光編碼器脈波)訊號之擷取。前者因為需要執行複雜之控制法則但僅需較低的取樣頻率控制(運動軌跡控制及位置控制:小於1kHz),因此在Nios嵌入式處理器內以軟體實現;而後者因為需要較高的取樣頻率控制(PWM電路:4~8MHz)但是較固定的計算公式,因此在FPGA晶片以硬碟實現。本文所提應用SoPC技術於XYZ平臺驅動器之研製,將使其更精簡、高精度及低成本。 |
英文摘要 | This paper presents a servo control IC for drives of XYZ table using SoPC (System-on-a-Programmable-Chip) technology which is developed by Altera Corporation and consisted of an FPGA (Field programmable Gate Array) and a Nios embedded processor. In this proposed servo control IC, there are two modules. One module performs the functions of the motion trajectory control and three-axis position controller of XYZ table. The other module performs the functions of the three PWM (Pulse Width Modulation) output generations and three QEP (Quadrature Encoder Pulse) signal captures. The former is implemented by software using Nios embedded processor due to the need of the complicated control algorithm and low sampling frequency control (motion trajectory control & position control: less than 1kHz). The latter is implemented by hardware using PLD (programmable logic device) in FPGA due to the need of high sampling frequency control (PWM circuit: 4~8MHz) but simple computation. As the results, the use of SoPC technology can make the servo controller of XYZ table more compact, high performance and cost down. |
本系統之摘要資訊系依該期刊論文摘要之資訊為主。