Using FPGA-based platforms for embedded control applications in Mechatronics

This paper discusses development of embedded controllers on a reconfigurable multiprocessor system using Field Programmable Gate Array (FPGA) technology. The system is reconfigurable in hardware and software in the sense that certain components may be reused in different applications; hence allowing rapid development of embedded control systems. Concurrent real-time operation can be achieved by utilizing hardware and software modules consisting of dedicated hardware cores and real-time operating systems. For demonstration purposes we discuss development of a system consisting of a network-enabled master processor that handles two slave processors each controlling a mechatronic system. The user interface is implemented using an internet browser through the master processor which allows monitoring and supervisory control of the individual systems. A multi-threaded Real-time Operating System (RTOS) runs on each of the softcore processors which allows flexibility and modularity in software design while pre-designed hardware modules on the FPGA chip can be utilized to build computing hardware for control applications in Mechatronics. Experimental results are presented to illustrate how control applications can be developed and deployed using modular components and the hardware/software environment.