FPGA-SOPC based motion controller with ACC/DEC using digital convolution

Acceleration/deceleration (ACC/DEC) motion planning is used to generate smooth motion command. This study focuses on realizing trapezoidal, S-curve and fourth-order ACC/DEC planning using digital convolution. To test and verify the proposed ACC/DEC method, a motion controller is designed and implemented. The FPGA (Field Programmable Gate Array) is used to implement the measurement unit and pulse generator, while the SOPC (System on a Programmable Chip) is used to realize the trajectory generator and PID controller. The FPGA-SOPC based motion controller can improve the integration level of the motion control system and meet the real-time requests. Simulation and experiment results verify that the digital convolution method is effective and the FPGA-SOPC based motion controller is feasible.