Brushless DC motor controller for tele-operation using embedded real-time Linux

Recently, the motor controllers requires various functions not only real-time control but also communication capabilities with remote host computer and other motor controller for synchronization. This paper presents a brushless motor controller for tele-operation by using the RTLinux and FPGA technologies. The proposed controller is composed of an embedded RTLinux board with StrongARM microprocessor made by Intel co. ltd., capable of Ethernet connection, a high speed current controller implemented by using an FPGA, and a two channel BLDC motor driver for precision current control.