基于FPGA的直流电机伺服系统的设计与实现.doc

摘要 直流电机由于其响应速度快、精度高、效率高、调速范围宽、负载能力强、控制性能好等特点，使其得到广泛的应用。现在社会随着EDA技术的不断发展，实现电机数字控制的方法也随之发生创新，基于FPGA（现场可编程门阵列）的电子控制系统来对直流电机进行伺服控制也是众多方法中的一种。 本设计以FPGA现场可编程逻辑器件做为中央控制器件，对信号进行处理，速度快，可靠性高；并以AD1674为数据采集系统的核心部件；硬件驱动电路采用大功率MOSFET管所构成的单极可逆H桥电路，并采用PWM方式驱动电路。设计采用前、反馈复合算法，使用VHDL语言编程。设计采用三环控制原理，既对位置环、速度环、电流环进行控制，从而使得电流的静态跟动态性能都得到提高。 本设计用Quartus II对直流电机伺服系统的各个环节进行程序的编写与仿真。论文中给出了各个模块的VHDL代码，以及这些模块相对应的时序仿真。 本设计主要以用Quartus II软件进行编程与仿真为主。 关键字：直流电机，伺服控制，VHDL，FPPGA，PWM Abstract Dc motor to be used widely because of high speed, high accuracy, high efficiency, wide range of speed , load ability, good control performance and other characteristics, widely used. Now society as EDA the development of technology, digital control method of realization motor has been changed innovation, based on FPGA (field programmable gates array) of electronic control system of dc motor servo to control is also one of the many methods. This design with FPGA field programmable logic devices as the central control device, the signal processing, speed and reliability; And with AD1674 of data collection system for core components; Hardware circuit adopts high power MOSFET tube drivers made of a unipolar reversible H bridge circuit, drive circuit and using PWM way. Design the previous, feedback composite algorithm, the use of VHDL language programming. Design USES three-loop control principle, not only the position loop, speed loop, current loop control, so that the current static dynamic performance with are improved. This design with qartus II to dc motor servo system every link of the programs to write and simulation. Paper gives each module of VHDL code, and the corresponding simulation of the succession of the module. This design mainly use quartus ii software programming and simulation. KEYS: Dc motor，servo-control , VHDL , FPGA , PWM 目录 摘要 2 Abstract 3 第一章 引言 5 1.1 伺服系统的概念 5 1.1.1 伺服系统的发展历史 5 1.1.2 伺服系统的发展趋势 5 1.2 电机控制的发展概况 5 1.3 电机控制器的发展 6 1.4 功率半导体器件的发展 6 第二章 系统控制原理 7 2.1 PWM控制原理(Pulse