基于FPGA的运动控制系统加减速算法设计

摘要

In order to improve the real-time performance, motion precision and speed stability of motion control system, the advantages and disadvantages of various acceleration and deceleration algorithms, the feasibility of hardware implementation were compared. FPGA was used to realize the flexible trapezoid acceleration and deceleration, moving average filter was used to solve the acceleration of the jump, achieving the equivalent effect for the acceleration and deceleration of the S-shaped curve. Finally, the corresponding RTL view and program flow chart were given, and the realization methods of these two kinds of acceleration and deceleration curves were simulated and verified.%为提高运动控制系统的实时性、运动精度、速度的平稳性,比较了各种加减速算法的优缺点、硬件实现的可行性等,采用FP GA实现了灵活的梯形加减速,利用滑动平均滤波器解决了加速度的跳变问题,实现了与S形加减速等效的加减速效果,最后给出了相应的RTL视图、程序流程图,并对这2种加减速曲线的实现方法进行了功能仿真验证及实验验证.