基于FPGA的交流伺服电机位置环控制器研究与设计

发布时间：2018-03-09 15:21

本文选题：FPGA　切入点：伺服控制　出处：《合肥工业大学》2014年硕士论文　论文类型：学位论文

【摘要】：随着工业控制领域对高速、高精度以及高响应速度电机需求的不断增加，电机及其伺服控制技术得到了飞速的发展。电机是工业控制中至关重要的部分，是工业控制系统最主要的执行部件，只有电机及其伺服控制技术的进步才能促进工业控制领域的进一步发展。伺服控制系统主要由电流环、速度环和位置环构成，其中位置环的控制性能直接决定了伺服控制系统整体的工作性能，是伺服控制系统设计的关键。传统PID控制在控制量突变时，会产生较大的超调量，本文针对这个不足进行改进，得出一种改进型PID控制方法，同时利用前馈控制高响应速度的特点，，设计出一种改进型PID加前馈的控制方法，通过仿真验证该方法相比于传统PID控制方法具有更小的超调量和更快的响应速度。本文选用FPGA作为位置环控制器处理核心，在其内部实现改进型PID加前馈的算法以及部分硬件电路功能。FPGA具有的超大规模的单芯片容量和类似硬件电路的高速并行处理能力，同时在FPGA芯片内还可以自定义一个32位Nios II软核处理器，软核支持常用指令集，可以通过高级编程语言设计程序。在单片FPGA芯片中可以完成类似硬件电路的逻辑控制，同时还能够通过Nios II软核来实现复杂的算法。FPGA可以大幅简化硬件电路的设计，提高设计人员的工作效率。本文设计制作基于FPGA的交流伺服系统位置环控制器；然后在位置环控制器的FPGA芯片中完成软件设计工作；最终通过测试表明，在本文所设计的基于FPGA的位置环控制器的控制下，伺服电机具有较好的定位精度和跟踪性能。
[Abstract]:With the increasing demand for high speed, high precision and high response speed motors in the field of industrial control, the motor and its servo control technology have been developed rapidly. Motor is an important part of industrial control. The servo control system is mainly composed of current loop, speed loop and position loop, and only the progress of motor and servo control technology can promote the further development of industrial control field. The control performance of the position loop directly determines the working performance of the servo control system and is the key to the design of the servo control system. The traditional PID control will produce a large overshoot when the control quantity changes. In this paper, an improved PID control method is proposed to solve this problem. At the same time, the feedforward control is used to control the high response speed. An improved PID plus feedforward control method is designed. The simulation results show that this method has smaller overshoot and faster response speed than the traditional PID control method. In this paper, FPGA is chosen as the processing core of the position loop controller. The improved algorithm of PID plus feedforward is implemented in its interior, and the super-large single chip capacity and the high speed parallel processing ability of similar hardware circuits are realized in part of the hardware circuit function. At the same time, a 32-bit Nios II soft core processor can be defined in the FPGA chip. The soft core supports the common instruction set and can be programmed by high level programming language. The logic control similar to the hardware circuit can be realized in a single FPGA chip. At the same time, the complex algorithm can be realized by Nios II soft core. FPGA can greatly simplify the design of hardware circuit and improve the efficiency of the designer. In this paper, the position loop controller of AC servo system based on FPGA is designed and manufactured. Then the software design is completed in the FPGA chip of the position loop controller. Finally, the test results show that the servo motor has better positioning accuracy and tracking performance under the control of the position loop controller based on FPGA designed in this paper.
【学位授予单位】：合肥工业大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM383.42;TP273

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