Development of Multi-Motor Servo Control System Based on Heterogeneous Embedded Platforms

Abstract

Multi-motor servo systems are widely used in industrial control. However, the single-core microprocessor architecture based on the microcontroller unit (MCU) and digital signal processor (DSP) is not well suited for high-performance multi-motor servo systems due to the inherent limitations in computing performance and serial execution of code. The bus-based distributed architecture formed by interconnecting multiple unit controllers increases system communication complexity, reduces system integration, and incurs additional hardware and software costs. Field programmable gate array (FPGA) possesses the characteristics of high real-time performance, parallel processing, and modularity. A single FPGA can integrate multiple motor servo controllers. This research uses MCU + FPGA as the core to realize high-precision multi-axis real-time control, combining the powerful performance of the MCU processor and the high-speed parallelism of FPGA. The MCU serves as the central processor and facilitates data interaction with the host computer through the controller area network (CAN). After data parsing and efficient computation, MCU communicates with the FPGA through flexible static memory controller (FSMC). A motor servo controller intellectual property (IP) core is designed and packaged for easy reuse within the FPGA. A 38-axis micro direct current (DC) motor control system is constructed to test the performance of the IP core and the heterogeneous embedded platforms. The experimental results show that the designed IP core exhibits robust functionality and scalability. The system exhibits high real-time performance and reliability.