血液进样器驱动控制系统设计.pdfVIP

带AXI接口的IP核当中，使用VIVADOBlockDesign进行PS与PL端数据交互的代码

及相关配置。

（5）系统实验与测试。首先对本系统的梯形速度曲线和S形速度曲线分别进行了

MODELSIM仿真和上机测试，并与MATLAB实验仿真进行数据对比。再对编码器进行

脉冲数据采集并分析，查看脉冲数、脉冲速度是否与FPGA输出脉冲匹配，以此综合判

断梯形曲线、S形曲线运动是否正确实现。还验证了TMC2225单总线UART数据收发

功能。实验结果表明，数字积分法可以实现步进电机梯形曲线、S形曲线运动，编码器

计数、方向功能实现，电机驱动芯片单总线UART数据收发功能实现。所有实际位置指

令参数都达到了速度不低于40K脉冲/秒，加速度不低于100K脉冲/平方秒，最大加加

速度和最大减加速度均不低于100M脉冲/立方秒的设计要求。

关键词：血液分析仪；检测速率；血液进样器；加减速运动控制；数字积分法

Abstract

Theannualpercapitadisposableincomeofnearly40,000RMB,thepopulationbaseof

morethan1.4billionpeopleinChinaandtheactualsituationofthegradualagingofthepop-

ulationmakeChinasmedicalsystemfacemoreandmoreseverechallenges.Bloodroutine

testisthefirststepinthediagnosisandtreatmentofvariousdiseases.Therefore,bloodtestis

facedwiththepracticaldilemmaofincreasingsamplesizeandlowdetectionefficiency.Itis

urgenttoimprovethesampleprocessingabilityofbloodanalyzer.Therateofsampletrans-

missionbythebloodsampleristhekeytodeterminethedetectionrateofthebloodanalyzer.

Thedevelopmentofadrivecontrolsystemsuitableforthebloodsamplerwillfundamentally

improvethedetectionrateofthebloodanalyzer.Thispaperhascarriedoutresearchwork,

mainlyfocusingonfiveaspects.

(1)Systemdesign.Accordingtothedesignrequirementsandindicators,thispaper

choosesZynqUltraScale+MPSoCsxczu3eg-sfvc784-1asthesystemmaincontrolchip,

MS17HD6P4150steppermotor,TMC2225stepperdrivechip,BC100Tencoder,FF-SU15

slotoptocoupler,etc.,andconstructstheoverallframeworkoftheclosed-loopcontrolsystem

accordingtothefunctionsandactualneedsofeachintegratedcircuit.

(2)Systemcircuitdesign.Accordingtotheoverallframeworkofthesystem,thecircuit

schematicdiagramofthesystemisdesigned.BasedontheintegratedchipTMC2225,themo-

tord