直流微电机位置伺服控制器及其FPGA实现  

Position Servo Controller for DC Micro Motor and Its Realization Based on FPGA

作　　者：周磊[1] 刘庆想[1] 王邦继[1] 李相强[1] 张健穹[1] 

机构地区：[1]西南交通大学,成都610031

出　　处：《微特电机》2018年第1期45-48,共4页Small & Special Electrical Machines

摘　　要：使用Verilog HDL设计了一种基于FPGA的直流微电机位置伺服控制器。通过控制参数在线自适应整定优化PID控制算法,提高位置响应速度和定位精度;通过补偿机制,消除H桥死区时间导致的静态误差。仿真结果表明,控制器计算结果与预期吻合。实验结果表明,控制器实现了对微电机位置的快速准确控制。例化多个控制器即可控制多轴微电机,有利于多轴微电机控制系统的小型化。A position servo controller for DC micro motor based on field programmable gate array （FPGA） was de- signed in verilog hardware description language （HDL）. The proportion integration differentiation （PID） control loop was optimized by self-adaptive adjustment of parameters, which increased position response speed and decreased position error. A compensation mechanism was used to eliminate the static error caused by blank time of the H bridge. The simulation shows that calculation results of the controller is the same as expected. The experiment shows that rapid and accurate posi- tion control of DC micro motor was achieved. Instantiation of more controllers in FPGA chips leads to multi-axis motors controlling, making for multi-axis micro motor control system miniaturization.

关 键 词：直流微电机 FPGA 位置伺服控制器 自适应控制 

分 类 号：TM351[电气工程—电机]