Abstract

A hardware control system based on MCF5235 and FPGA is designed to solve the problem of low accuracy of multi-motor synchronous control caused by its insufficient system resources and slow hardware processing speed. For position control, the position loop, speed loop and current loop are adopted. The control tasks of the three closed-loops are taken in different processors, which reduce the CPU resource consumption and improve the capacity of parallel data processing. The real-time operating system VxWorks embedded into MCF5235 schedules and dispatches system tasks to ensure the stability of the system in real time and lower the difficulty in development. The simulation and experiment show that the adaptive fuzzy PID controller is of quick dynamic response, small overshoot and less speed fluctuation with excellent dynamic and static properties at high speed.

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