Design of joint servo control system based on FPGA

In order to meet the real-time, open and flexible requirement of the modular joint, the realization of a joint servo control system based on embedded field programmable gatearray (FPGA) is presented in this paper. The field oriented vector control strategy and space vector pulse width modulation technology is adopted in the joint controller design, the software and hardware design of which mainly includes the timing planning module, the current sampling circuit and driver module, the current regulating module, the vector transformation module, the PI regulator, the trigonometric function calculation module, the SVPWM module, the absolute type encoder SSI bus interface circuit and acquisition module, etc. Finally, the control experiment of the joint motor has been carried out, indicating that the servo control system can realize the function of the sensor signal acquisition and integration and the motor driving control.