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 proceedingConference contributionAcademicpeer-review

    1 Citation (Scopus)


    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 languageEnglish
    Title of host publicationCommunication Process Architectures 2008
    Subtitle of host publicationWoTUG-31
    Place of PublicationAmsterdam
    PublisherIOS Press
    Number of pages14
    ISBN (Print)978-1-58603-907-3
    Publication statusPublished - Sep 2008
    EventCommunicating Process Architectures, CPA 2008: 31st WoTUG Conference on Concurrent and Parallel Programming - York, United Kingdom
    Duration: 7 Sep 200810 Sep 2008
    Conference number: 31

    Publication series

    NameConcurrent Systems Engineering Series
    PublisherIOS Press
    ISSN (Print)1383-7575


    ConferenceCommunicating Process Architectures, CPA 2008
    CountryUnited Kingdom


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

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