| Summary: | 碩士 === 國立中正大學 === 光機電整合工程所 === 94 === In this paper, a novel FPGA (Field Programmable Gate Array) based motion controller is proposed to realize real-time NURBS (Non-Uniform Rational B-Spline) interpolation and servo control on an FPGA chip, and high-speed communication with PC. The last generation of FPGA-based motion controller utilizes its parallel computing power to perform the Cox-de Boor algorithm and the IIR (Infinite Impulse Response) algorithm in real-time, however, the PC client must download the parameters of a NURBS curve to the FPGA chip off-line before it runs. The proposed FPGA-based motion controller is capable of performing high-speed communication with PC in about 8M Hz, and the PC client can transmit different NURBS curves to the FPGA chip through the PCI DIO card on-line. Numerical simulations and experimental tests using an X-Y table verify the outstanding communication performance of the FPGA-based motion controller. The result indicates that NURBS interpolation, servo control, and high-speed communication can be achieved in real-time for the FPGA-based motion controller which is highly critical to the success of high-speed and high-accuracy motion control.
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