FPGA-Based Architecture for Sensing Power Consumption on Parabolic and Trapezoidal Motion Profiles

Abstract

The objective of this work is to design and implement a scalable Field-Programmable Gate Array (FPGA)-based motion control system for DC servo motors using a parabolic velocity profile for industrial applications. The implementation in this device allows the obtaining of a fast, flexible and low-cost system. The system is divided into control, communication and closed-loop coupling. The work also addresses a comparative analysis of the most used profiles, the trapezoidal and parabolic. The comparison is made considering the energy consumption of both profiles. As a consequence of the comparison made, the velocity profile can be selected to reduce production costs by saving energy and reducing wear on machinery. The discrete models of the velocity profiles are obtained through numerical methods that permit the control blocks to be implemented in an FPGA. To reduce maintenance costs and energy consumption in servo mechanisms, the derivation of the acceleration or jerk of the motor is shown. A Graphic User Interface (GUI) is presented, which allows monitoring the position, velocity and angular acceleration of the motor shaft. In addition, the developed interface supports modification of parameters of the final position and maximum velocity in the motor. The delivered current is compared, evaluating its decrease using a parabolic velocity profile. Finally, the experimental results are illustrated.

A Novel Hardware–Software Co-Design and Implementation of the HOG Algorithm

“…Equations ( 7)-( 10) demonstrate the mathematical procedure of this method. Equation (7) presents the original orientation computation comparison. In the logarithm-based method, we first compute the tangent of all values as in Equation (8).…”

“…Since FPGA implementations typically consume less power than GPUs and CPUs, there has been considerable interest in FPGA implementation in numerous applications [7][8][9]. In particular, many scholars have contributed to FPGA implementation of the HOG algorithm [10][11][12][13][14].…”

Time-Optimal Asymmetric S-Curve Trajectory Planning of Redundant Manipulators under Kinematic Constraints

“…A constant velocity profile with a controlled start–stop phase is recognized as the time-optimal trajectory within the velocity and acceleration limitations of the end-effector. The trapezoidal velocity profile, a linear segment (constant velocity) with parabolic blends, is a common time-optimal trajectory in industrial robots owing to its computational simplicity [ 8 ]. However, residual vibrations in mechanical systems cause a conflict between the speed and smoothness of the robot’s motion.…”

Adaptive Sliding Mode Disturbance Observer and Deep Reinforcement Learning Based Motion Control for Micropositioners

“…In addition, many researchers have integrated these control strategies to further improve the control performance. Victor et al have proposed a scalable field-programmable gate array-based motion control system with a parabolic velocity profile [ 14 ]. A new seven-segment profile algorithm was developed by Jose et al to improve the performance of the motion controller [ 15 ].…”