Simulink/Modelsim Simulabel VHDL PID Core for Industrial SoPC Multiaxis Controllers

This paper presents a PID controller core described in VHDL suitable to be introduced into a system-on-programmable chip design. The flexibility of the system-on-a-programmable-chips (SoPCs) in motor multi-axis control systems makes possible the processing of the most intensive computation operations by hardware (PID IP cores) and the trajectory computation by software. Usually the trajectory generation software runs in powerful FPGA embedded microprocessors. The main problem of this approach is the difficulty to tune the VHDL code into the final electrical system. That is why the article also describes the simulation framework needed to validate the model using Simulink. In this way, we can obtain both the high performance of a hardware implementation and the validation and testing capabilities of a Simulink design