Motion control components' algorithms on a chip for driving module

Abstract

A motion control chip implementation method will be shown in this paper. The implementation is based on the Verilog HDL which is a popular tool for designing a special function FPGA, especially on the industrial field. There are several components needed in a control chip according to the motion control requirements. The major components are: encoder readers, PWM generators, subtracter/Adder, PID controller, as well as the communication ports. These algorithms have been developed on an FPGA, which is used to control an IR2100 based DC motor drive for a mobile robot. The IR2100 based drive is also been introduced for completing the article structure. Finally, we will show you that the motion driving module is applied on a more than 50 Kg mobile robot.