基于FPGA的二相混合式步进电机细分驱动器的设计与实现

发布时间：2018-02-07 10:01

本文关键词： 两相混合式步进电动机细分驱动 FPGA DRV8432　出处：《西安电子科技大学》2014年硕士论文　论文类型：学位论文

【摘要】：随着科技的发展和社会工业化的进步,步进电机在机械控制领域得到了越来越广泛的使用。但是在常规的电机控制方式下,步进电机会有精度过低,低频震动等固有缺陷,限制了其在工业领域的应用。为了克服步进电机上述不足,提高步进电机运行的稳定性,人们提出了步进电机的细分控制技术。该技术通过对步进电机励磁绕组中电流的精确控制,使步进电机内部的合成磁场为均匀的圆型旋转磁场,实现步进电机步距角的细分;采用该技术可以在不改变电机转动力矩的条件下,大大的提高步进电机的转动精度并改善电机低频震动的特性。本文首先介绍了两相混合式步进电动机的工作原理及其数学模型,并对细分驱动控制技术进行了理论分析;在理论分析基础上,提出了采用恒频调宽的PWM调流技术实现细分的控制方案;然后,本文从硬件和软件两个方面详细介绍了基于FPGA的两相混合式步进电动机细分驱动器的设计与实现;最后,通过软硬件测试结果验证了本文设计方法的正确性。本文详细介绍了基于FPGA的两相式混合步进电机细分驱动器的设计和实现。具体的设计工作主要包括:1)细分驱动器的硬件系统设计;本设计选用Altera的EP2C8Q208C8N作为驱动控制系统的控制处理器,TI的DRV8432作为步进电机的功率放大器、Analog Devices的AD7874作为系统的A/D采样转换器、精密的仪表运算放大器对采样电阻的电压信号进行放大并辅以其它辅助电路完成了方案的硬件实现。2)增量式PID调节算法的研究与实现;本文对增量式PID控制算法进行研究,并使用VHDL硬件描述语言对其进行了设计实现;并在调试过程中,根据细分驱动器系统的特性,对PID调节算法的参数进行了调整。3)人机交互模块的设计;本文在FPGA上实现串口通信模块,使得使用者可以通过计算机能够为外部系统设置细分驱动器的参数,获取驱动器的运行状态。4)完成了对步进电机的细分控制系统控制软件设计,并采用VHDL语言进行了实现。5)对步进电机细分驱动器进行了软硬件联合测试,并对测试结果进行了分析。根据实验的结果,提出了部分模块的优化思路以及今后的工作方向。
[Abstract]:With the development of science and technology and the progress of social industrialization, stepping motor has been more and more widely used in the field of mechanical control. But in the conventional motor control mode, the step motor will have the inherent defects such as too low precision, low frequency vibration and so on. In order to overcome the shortcomings of stepping motor and improve the stability of step motor, The subdivision control technology of stepping motor is put forward, which makes the composite magnetic field in the stepping motor become a uniform circular rotating magnetic field through the accurate control of the current in the excitation winding of the step motor, and realizes the step angle subdivision of the step motor. This technique can be used without changing the torque of the motor. In this paper, the working principle and mathematical model of two-phase hybrid stepping motor are introduced, and the subdivision driving control technology is analyzed theoretically. On the basis of theoretical analysis, the control scheme of subdivision using PWM current modulation technology with constant frequency width modulation is proposed. In this paper, the design and implementation of two-phase hybrid stepping motor subdivision driver based on FPGA are introduced in detail from two aspects of hardware and software. The design and implementation of two-phase hybrid stepping motor subdivision driver based on FPGA are introduced in detail. The specific design work mainly includes: 1) subdivision drive. Hardware system design of actuator; In this design, the EP2C8Q208C8N of Altera is chosen as the control processor of the drive control system and the DRV8432 of TI is used as the power amplifier of the stepper motor and the AD7874 of Analog Devices is used as the A / D sampling converter of the system. The precision instrument operational amplifier amplifies the voltage signal of the sample resistor and accomplishes the hardware realization of the scheme by using other auxiliary circuits. 2) the incremental PID regulation algorithm is studied in this paper, and the incremental PID control algorithm is studied in this paper. In the process of debugging, according to the characteristics of the subdivision driver system, the parameters of the PID adjustment algorithm are adjusted. 3) the human-computer interaction module is designed. In this paper, the serial communication module is implemented on FPGA, which enables the user to set the parameters of the subdivision driver for the external system through the computer, and obtain the running state of the driver. 4) the software design of the subdivision control system for the stepping motor is completed. The software and hardware of step motor subdivision driver are tested by using VHDL language. The test results are analyzed. According to the experimental results, the optimization idea of some modules and the future work direction are put forward.
【学位授予单位】：西安电子科技大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM383.6

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