Title: Overall Design Scheme for STM32 ARM+FPGA Servo Control System (Part 1)

Design Requirements

A complete servo control solution comprises a host computer, an integrated drive and control unit, and a power board. The operator sends various commands via the host computer, and the controller parses these commands to execute corresponding servo functions. Next, the controller transmits drive signals to the power board to drive the motor. Finally, the controller collects feedback information for closed-loop control and uploads the data.

Considering the current development status and functional requirements of embedded servo controllers both domestically and internationally, the main functional requirements for the servo control system in this paper are defined as follows:

(1) Develop an integrated drive and control board. (2) Develop a servo control system for rigid-flexible coupled platforms while also accommodating control for ordinary rigid platforms. (3) Compatible with various digital encoder feedback types. (4) Capable of driving rotary and linear motors with power up to 1KW. (5) Capable of driving two or more permanent magnet synchronous motors. (6) Support multiple control modes, such as single-loop servo or multi-loop hybrid servo. (7) Support developers in creating custom control algorithms. (8) Support online control via a dedicated host computer, including motor start/stop, reset to zero, and target control functions. For example, setting target position, target speed, and target current. (9) Collect feedback information and upload it to the host computer for display, such as position information, speed information, and