Design of PWM Subdivision Driver for Multi-axis Stepper Controlling

摘要

In order to realize high-precision subdivision driving and multi-axis controlling for stepper motor system, a new PWM subdivision driver with multi-axis controlling is proposed. It mainly contains four independent PWM subdivision driving modules with Avalon bus interface, which can be used to set the working mode in each PWM channel for different motion axis. Each PWM subdivision driving module can output PWM square wave with maximum 256 subdivision, and can work in continuous or limited, synchronous or asynchronous working mode. Two or more PWM subdivision driving modules can be set to synchronize the PWM output, which realizes multi- axis controlling. The new PWM subdivision driver is designed by Verilog HDL language, simulated in Modelsim, and verified by using DE2-115 FPGA development board connected to four stepper motors via LMD18200 H Bridges. Both simulation and experiment results show that each PWM subdivision driving module can generate high-precision PWM square wave for different subdivision setting in continuous or limited working mode, and can work stably in cooperation for multi-axis control.