摘要
提出一种应用现场可编程门阵列(FPGA)实现多轴步进电机控制器的方法。采用IP设计思想,步进电机的运动控制由硬件电路(步进电机IP核)实现,轨迹计算由同一芯片上的微处理器(NiosⅡ软核)实现,从而可以构建多轴步进电机控制器的可编程片上系统(SoPC系统)。利用VHDL硬件描述语言,设计了一种高性能步进电机IP核,并进行了仿真验证。为了验证该IP核的复用性,构建了一个4轴步进电机控制器的SoPC系统。实验结果表明,此系统可对多轴步进电机实现高精确度控制,每轴的运动是相互独立的,并且控制参数在线可编程。基于这种方式构建的系统,扩展方便、可移植性高、具有广泛的适用性,可用于多轴伺服系统的工业领域。
The design and implementation of a multiple-axis stepper motor controller using a field programmable gate array（FPGA） was presented.Based on IP core design methodology,the flexibility of the system on a Programmable Chip（SoPC） in multiple-axis stepper motor controller enables the processing of the most intensive computation operations by hardware（stepper motor IP core） and the trajectory computation by software（Nios Ⅱ microprocessor） in the same device.A high performance stepper motor IP core described in VHDL was presented,and the simulation has been approached.The reusability of the IP core is demonstrated with the design of a 4 axis SoPC system.The experimental results show that the system can realize the high precision control of 4 axis stepper motor,each axis is independent of the others,and all parameters are programmable online.The built-up system based on this mode has a number of advantages,such as easy expansion,high portability and broad applicability.It can be used in industrial applications which require multiple axis.
出处
《电机与控制学报》
EI
CSCD
北大核心
2012年第3期78-82,89,共6页
Electric Machines and Control
基金
中央高校基本科研业务费专项资金(SWJTU11CX077
SWJTU11BR227)
