基于FPGA的高性能电动伺服系统设计

摘要

Based on field programmable gate array (FPGA), and combined with advanced system on program mable chip (SOPC) technology, a multi-axis DC motor servo control system is designed and implemented. In order to achieve the purpose of high-speed and parallel control, several hardware control modules are designed by using Verilog hardware description language and the method of finite-state machine. The core part of the control system is implemented by using hardware control modules of the greatest extent, and hardware control modules are parallelly arranged in hardware framework level. The whole control system has fast performance, high reliability, and small size. Experimental results show that the control system can control each DC motor in dependently, and has good steady and dynamic performance.%利用现场可编程逻辑门阵列(FPGA),结合先进的可编程片上系统(SOPC)技术,设计并实现了多轴直流电机伺服控制系统.为了达到高速、并行控制的目的,利用Verilog硬件描述语言,采用基于有限状态机的方法,自行设计了硬件控制模块,以使核心控制部分最大程度地硬件化；同时,在硬件架构层面上采用并行化布置.整个控制系统具有快速性好、可靠性高、体积小等特点.实验表明,该控制系统能可靠地对各路伺服电机进行独立控制,且响应过程的稳态、动态性能良好.