FPGA implementation of servodrive control system

The wide range of modern industrial applications demand on extremely high performance of motion control systems in terms of tracking accuracy and therefore control bandwidth. The paper presents a novel dynamic model feedforward quasi-continuous servo drive control approach with regular current feedback sampling implemented on FPGA. Compared to the conventional DSP-based systems the current and the velocity control loop bandwidths have been increased by several times when using exactly the same power electronics, motor and sensors. The proposed technique ensures the maximal control system performance in terms of bandwidth for a system with a PWM inverter. The theory was proved by simulation and experimental results.