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.