Servo drive system based on programmable SoC architecture

Current deep submicron processing technologies enable integration of multiple software programmable processors and dedicated hardware components into a single integrated circuit, called System on Chip (SoC) that offers high performance and flexibility. Consequently, the nowadays motor control industry, to remain competitive, should develop high speed digital control systems based on these SoCs. In this paper, we tackle this new technology in the context of electrical motor control domain in two ways: we describe high performance FPGA reconfigurable hardware architectures and we give a modular and scalable embedded mono-processor software architecture, based on hard-core processor ensuring high performance and flexibility. We propose two RTOS supports (¿C/OS-II and Xilkernel) for this control application to answer Real-Time (RT) constraints. Our top-down co-design methodology with various abstraction levels has helped us designing a high performance embedded control in a reasonable time. The experimental results show the effectiveness of our RT SoC approach.