Distributed remainder method for pulse generator in servo motor control

Driving servo motor by pulse train to control the motor position or speed typically requires the pulse generation from MCU. The pulse train for a certain period can be generated by the required characteristics of the pulse such as the number of required pulses and the pulse period. The pulse train generation seems to be a trivial task. However, this paper illustrates that, in some case, the pulse train generation can lead to motor speed error caused by discrete nature of the pulse period which is corresponding to a gap in the pulse train. This paper also proposes a method to mitigate the motor speed error so called Distributed remainder method to distribute the aforementioned gap across the whole pulse train. We also demonstrate how the pulse generation is implemented on MCU and FPGA and generate experimental results to confirm the effectiveness of our method.