FPGA implementation of real-time digital controllers using on-line arithmetic

Abstract

The implementation of real-time digital controllers for low-power compact high performance mechanisms is a challenging task in the design of mechatronic micro-systems such as robots, fine positioning devices and intelligent drives. While ASIC and DSP solutions lead to very expensive design processes and high-power consumption realizations, respectively, FPGA implementations using parallel arithmetic are limited by size constraints. Serial arithmetic with most significant digit first, called on-line arithmetic, offers the necessary size reduction and acceleration of speed. In this approach traditional functions, such as analog to digital conversions and control data calculations can be combined. FPGA implementation of digital control algorithms using on-line arithmetic leads to efficient real-time realizations with small size, high speed and low power consumption.