基于单片机和fpga的两相混合式步进电机控制系统设计 毕业论文.doc

摘 要 步进电机是一种将电脉冲信号转换成相应的角位移或线位移的机电元件,具有易于开环控制、无积累误差等优点，因此广泛应用于工业、办公自动化等领域。本文以两相混合式步进电机作为研究对象，分析了步进电机的工作原理并建立了步进电机的数学模型。在控制器的选择方面，本文综合考虑了不同控制器的优缺点。由于单片机技术成熟，并且编程简单，价格低廉；FPGA性能优越，集成度高，并且无需A/D转换芯片，最终采用单片机和FPGA作为控制芯片。单片机主要实现了步进电机调速控制、转向以及细分数的设定，而FPGA主要实现了对步进电机的细分驱动。最后，本文给出了设计的最终方案。本设计结合了简单廉价的单片机和高性能的FPGA，在很大程度上提高了步进电机的低频和高频性能，有很高的实用价值。 关键词 步进电机 FPGA 单片机 Abstract Stepping motor is a kind of mechanical electronic components driving electric pulse signal into corresponding angular displacement or line displacement. Because of having the advantage of easy to open-loop control and no accumulated error, etc., stepping motor is widely applied to the industry, office automation, etc. This paper is based on the two-phase hybrid stepping motor, analyses the working principle of stepping motor and establishes the mathematical model of stepping motor. In the choice of controller, this paper considers the advantages and disadvantages of different controller synthetically. The technology of MCU is mature, the program is easy, and the price is cheap; FPGA has superior performance, high integration level, and no A/D transformation chip. So finally I picks the MCU and FPGA as the control chip. MCU mainly realizes the stepping motor speed regulation control, steering and subdividing number settings, while FPGA mainly realizes the subdivision drive of stepping motor. Finally, this paper gives the final design of the project. This design combined the simple and inexpensive MCU with the high performance FPGA, and improved the low frequency and high frequency performance of stepping motor. It has high practical value. Key words Stepping motor FPGA Chip microcomputer 目 录 摘 要 I Abstract II 第1章 绪论 1 1.1 步进电机研究背景 1 1.2 步进电机发展现状 1 1.3 设计目的 2 1.4 设计意义 3 1.5 论文内容 4 第2章 两相混合式步进电机 4 2.1 两相混合式步进电机简介 4 2.2 混合式步进电机的技术指标 4 2.2.1 静态参数 5 2.2.2 动态参数 5 2.3 两相混合式步进电机结构及原理 6 2.4 两相混合式步进电机的数学模型 8 2.4.1 电感和磁链的推导 8 2.4.2 转矩与运动方程的建立 14 2.5 本章小结 15 第3