基于FPGA的多通道伺服电机控制系统设计  

Design of multi-channel servo motor control system based on FPGA

作　　者：张华西 严飞[1,2] 刘卿卿 陈佳宇[1] 刘银萍 Zhang Huaxi;Yan Fei;Liu Qingqing;Chen Jiayu;Liu Yinping(Automation College,Nanjing University of Information Science&Technology,Nanjing 210044,China;Jiangsu Collaborative Innovation Center of Atmospheric Environment and Equipment Technology,Nanjing 210044,China;College of atmospheric physics,Nanjing University of Information Science&.Technology,Nanjing 210044,China)

机构地区：[1]南京信息工程大学大气自动化学院,南京210044 [2]江苏省大气环境与装备技术协同创新中心,南京210044 [3]南京信息工程大学大气物理学院,南京210044

出　　处：《国外电子测量技术》2022年第12期171-177,共7页Foreign Electronic Measurement Technology

基　　金：江苏省产业前瞻与关键核心技术重点项目(BE2020006-2);国家自然科学基金(61605083)项目资助。

摘　　要：针对大规模电机集群控制系统的控制难点,提出了一种基于现场可编程门阵列(field programmable gate array,FPGA)的多通道的伺服电机控制方案。首先,采用纯硬件逻辑部署用户数据报协议(user datagram protocol,UDP),使FPGA与上位机的实时交互;其次,针对特定的直线运动场合设计出一种双闭环PID控制策略,并在单片FPGA中集成多路伺服驱动控制模块,构建了多路伺服电机驱动控制系统;最后,搭建四路硬件测试平台,并进行实验验证。实验结果表明,到位误差小于0.42 mm,位置阶跃响应曲线平滑,速度阶跃响应超调量小于13%,稳定时间小于0.7 s,实现了快速响应和稳定调速,该系统有望在集群控制中得到广泛应用。Aiming at the control difficulties of large-scale motor cluster control system,a multi-channel servo motor control scheme based on field programmable gate array(FPGA)is proposed.Firstly,the user datagram protocol(UDP)transmission protocol is deployed with pure hardware logic to enable real-time interaction between the FPGA and the host computer.Secondly,a double closed-loop PID control strategy is designed for specific linear motion situations,and multi-channel servo drive control is integrated in a single-chip FPGA module,built a multi-channel servo motor drive control system.Finally,built a four-channel hardware test platform and carried out experimental verification.The experimental results show that the in-position error is less than 0.42 mm,the position step response curve is smooth,the speed step response overshoot is less than 13%,and the stabilization time is less than 0.7 s,which realizes fast response and stable speed regulation,and the system is expected to be used in cluster control.widely used.

关 键 词：FPGA 伺服电机 多通道 PID 双闭环 

分 类 号：TN2[电子电信—物理电子学]