Multi-axis Current Loop Control Based on FPGA

Abstract In this paper, according to the three-loop control structure, FPGA is used as chip of current loop, and parallel multi-axis motor realized by hardware nation. The loop code written in Verilog HDL language, simulation results each module are given SignalTap tool. main contents include a sampling multichannel encoder, current, vector coordinate transformation (CLARK module, PARK IPARK module), PI controller etc. show that rich logic resources powerful processing ability enable single multiple motors at same time. Compared with traditional serial execution program, method greatly reduces whole calculation time servo system.