步进电机速度曲线的设计与FPGA实现

摘要

In order to optimize the open loop control strategy of stepper motor, three widespread used velocity profiles were studied. According to running principle of stepper motor and kinematics equations, step intervals of each step in acceleration phase, constant velocity phase and deceleration phase of trapezoidal velocity profile were got. In this paper, presented a high performance stepper motor IP core described in VHDL, and the simulation had been approached. This design was verified using Altera DEO evaluation kit, and the results meet the expected design requirements.%为了优化步进电机的开环控制性能,研究了几种常见的步进电机速度曲线.根据步进电机运行原理及运动学方程,推导出采用梯形速度曲线时加速阶段、匀速阶段和减速阶段每步的步进周期关系式.设计了一种基于梯形速度控制的高性能步进电机IP核,包括Avalon总线接口、位置检测、速度剖面生成、脉冲信号产生等算法模块,并规划了各运算模块的时序调度.利用Altera公司的DEO开发板进行了实验验证,实验结果符合预期的设计要求.