FPGA based Control of a Production Cell System

M.A. Groothuis; Jasper J.P. van Zuijlen; Johannes F. Broenink

doi:10.3233/978-1-58603-907-3-135

FPGA based Control of a Production Cell System

M.A. Groothuis, Jasper J.P. van Zuijlen, Johannes F. Broenink

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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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 units is chosen as a 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 complete FPGA based motion control system with better performance figures than previous CPU based implementations.

Original language	English
Title of host publication	Communication Process Architectures 2008
Subtitle of host publication	WoTUG-31
Place of Publication	Amsterdam
Publisher	IOS
Pages	135-148
Number of pages	14
ISBN (Print)	978-1-58603-907-3
DOIs	https://doi.org/10.3233/978-1-58603-907-3-135
Publication status	Published - Sept 2008
Event	Communicating Process Architectures, CPA 2008: 31st WoTUG Conference on Concurrent and Parallel Programming - York, United Kingdom Duration: 7 Sept 2008 → 10 Sept 2008 Conference number: 31

Publication series

Name	Concurrent Systems Engineering Series
Publisher	IOS Press
Volume	66
ISSN (Print)	1383-7575

Conference

Conference	Communicating Process Architectures, CPA 2008
Country/Territory	United Kingdom
City	York
Period	7/09/08 → 10/09/08

Keywords

CE-Embedded Control Systems
METIS-251196
EWI-13497
IR-62472

Access to Document

10.3233/978-1-58603-907-3-135

Cite this

@inproceedings{35278a1f68f749428d38fbf090e24305,

title = "FPGA based Control of a Production Cell System",

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 units is chosen as a 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 complete FPGA based motion control system with better performance figures than previous CPU based implementations.",

keywords = "CE-Embedded Control Systems, METIS-251196, EWI-13497, IR-62472",

author = "M.A. Groothuis and {van Zuijlen}, {Jasper J.P.} and Broenink, {Johannes F.}",

year = "2008",

month = sep,

doi = "10.3233/978-1-58603-907-3-135",

language = "English",

isbn = "978-1-58603-907-3",

series = "Concurrent Systems Engineering Series",

publisher = "IOS",

pages = "135--148",

booktitle = "Communication Process Architectures 2008",

address = "Netherlands",

note = "Communicating Process Architectures, CPA 2008 : 31st WoTUG Conference on Concurrent and Parallel Programming ; Conference date: 07-09-2008 Through 10-09-2008",

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AU - Groothuis, M.A.

AU - van Zuijlen, Jasper J.P.

AU - Broenink, Johannes F.

N1 - Conference code: 31

PY - 2008/9

Y1 - 2008/9

N2 - 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 units is chosen as a 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 complete FPGA based motion control system with better performance figures than previous CPU based implementations.

AB - 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 units is chosen as a 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 complete FPGA based motion control system with better performance figures than previous CPU based implementations.

KW - CE-Embedded Control Systems

KW - METIS-251196

KW - EWI-13497

KW - IR-62472

U2 - 10.3233/978-1-58603-907-3-135

DO - 10.3233/978-1-58603-907-3-135

M3 - Conference contribution

SN - 978-1-58603-907-3

T3 - Concurrent Systems Engineering Series

SP - 135

EP - 148

BT - Communication Process Architectures 2008

PB - IOS

CY - Amsterdam

T2 - Communicating Process Architectures, CPA 2008

Y2 - 7 September 2008 through 10 September 2008

ER -

FPGA based Control of a Production Cell System

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Keywords

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