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Abstract
  • An FPGA (Field Programmable Gate Array) implementation
    and suitable power electronics can lead to a fast
    torque response in motion drive applications. However, when
    the controller parameters or its structure have to be adapted
    to internal and external varying conditions, e.g., when a selfoptimizing
    control system is pursued, a static implementation
    might not lead to the best utilization of reconfigurable resources.
    This contribution outlines the implementation of a self-optimizing
    system composed of several possible hardware and software
    realizations of controllers for a permanent magnet servo motor.
    How well a specific controller realization is suited to the current
    situation is evaluated based on control quality and realization
    effort (i.e., CPU time, reconfigurable area). A System-on-Chip
    architecture is presented, which enables an on-line exchange of
    FPGA- and CPU-based realizations of controllers to optimize
    resource utilization and control quality. It is shown that by
    using dynamic hardware reconfiguration, such self-optimizing
    controller can be implemented based on FPGA technology.
    Furthermore, the design-flow including self-developed tools is
    outlined. Experimental results show that the proposed scheme
    works satisfactory.
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