基于FPGA的精密微驱动器测控系统研究

发布时间：2018-06-30 01:24

本文选题：磁悬浮微驱动器 + FPGA　；参考：《浙江理工大学》2015年硕士论文

【摘要】：磁悬浮平面电机式微驱动器与压电、静电和热微驱动器相比具有驱动电压低,运动阻力小,自由度高,可靠性好等优点,随着加工业的发展,已逐渐成为国内外研究的焦点。控制系统采样率对磁悬浮微驱动器的控制精度有直接影响,选择高时钟频率的FPGA作为主控芯片不仅能在程序并行运行时提高效率,而且在大量数据运算和外围电路扩展方面有较大的应用空间。主要内容如下:1、分析了新型绕组式磁悬浮微驱动器的结构与工作原理;对磁悬浮微驱动器中的磁场分布进行了理论分析;建立了磁悬浮微驱动器悬浮系统的运动模型;对系统的特征进行了分析,并建立了PID控制系统,通过MATLAB仿真实验验证了该数学模型,并对其进行PID控制仿真。2、建立了磁悬浮微驱动器的控制系统,以EP2C5型号的FPGA为控制核心,结合AD7671、AD5545芯片设计了数据采样电路,处理电路以及输出电路,实现了对磁悬浮微驱动器的数据采集和数据输出功能,系统中FPGA可通过RS232协议实现与PC之间的通信,实现控制电路与上位机之间的硬件连接。3、基于Quartus II软件完成了基于FPGA磁悬浮微驱动系统的软件设计,完成ADC采样、FIFO缓存、数据滤波、控制算法、DA控制以及与上位机的通信;描述各算法功能及实现方法,完成程序编写并实现各模块功能。4、搭建了基于FPGA的磁悬浮微驱动器悬浮测控实验系统;测控系统中通过位置环对磁悬浮微驱动器进行PID控制,并可在上位机上通过Delphi界面检测悬浮状态,通过对所设计的PID控制器的控制精度、大范围精确控制性能、动态性能和跟踪性能进行实验验证,结果表明该系统可实现2mm范围的精度为1μm的控制。
[Abstract]:Compared with piezoelectric, electrostatic and thermal microactuators, magnetic levitation planar motor has the advantages of low driving voltage, low motion resistance, high degree of freedom and good reliability. With the development of processing industry, it has gradually become the focus of research at home and abroad. The sampling rate of the control system has a direct effect on the control accuracy of the maglev microactuator. Using FPGA with high clock frequency as the main control chip can not only improve the efficiency when the program runs in parallel. And in a large number of data operations and peripheral circuit expansion has a large application space. The main contents are as follows: 1. The structure and working principle of the new type magnetic levitation microactuator are analyzed, the magnetic field distribution in the magnetic levitation microactuator is analyzed theoretically, the motion model of the magnetic levitation microactuator suspension system is established. The characteristics of the system are analyzed, and the pid control system is established. The mathematical model is verified by MATLAB simulation experiment, and the pid control simulation. 2. The control system of the magnetic levitation microactuator is established, with the FPGA of EP2C5 as the control core. The data sampling circuit, processing circuit and output circuit are designed based on AD7671 and AD5545 chip. The functions of data acquisition and data output for magnetic levitation microdriver are realized. The communication between FPGA and PC can be realized by RS232 protocol. The hardware connection between the control circuit and the host computer is realized. Based on Quartus II software, the software design of the magnetic levitation microdrive system based on FPGA is completed. The ADC sampling FIFO buffer, data filtering, control algorithm DA control and communication with the host computer are completed. This paper describes the algorithm function and realization method, completes the program and realizes the module function. 4, builds the maglev micro driver suspension measurement and control experiment system based on FPGA, carries on the pid control to the magnetic levitation micro driver through the position loop in the measurement and control system, The suspension state can be detected on the upper computer by Delphi interface. The control precision, wide range accurate control performance, dynamic performance and tracking performance of the designed pid controller are verified experimentally. The results show that the system can control the 2mm with an accuracy of 1 渭 m.
【学位授予单位】：浙江理工大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP273;TN791

【相似文献】