FPGA Based Motor Control System Using PID Controller and Sigma-Delta ADC

In industrial robotic applications, motors play an important role to move the joints for pick and place, tool positioning, etc. For the accurate movements of joints, the speed of the motor should be controlled. The existing techniques for controlling the motor are not accurate and form steady state error and oscillations at the output. Hence PID (Proportional Integral Derivative) controller based motor control system with a Sigma-Delta Analog-to-Digital Converter (ADC) at the feedback section can be used to rectify this problem. A Sigma-Delta ADC consists of a feedback that helps in the accurate conversion from analog to digital signal. This system can be implemented on FPGA, which offers the advantages such as high performance and concurrent computing. Each module is simulated and synthesized using the Xilinx ISE Design Suite 14.2 and ISim Simulator.