【正文】 摘要 直流電機(jī)由于 其 響應(yīng)速度快、精度高、效率高、調(diào)速范圍寬、負(fù)載能力強(qiáng)、控制性能好等特點(diǎn)， 使其 得到廣泛的應(yīng)用?，F(xiàn)在社會(huì)隨著 EDA 技術(shù)的不斷發(fā)展，實(shí)現(xiàn)電機(jī)數(shù)字控制的方法也隨之發(fā)生創(chuàng)新，基于 FPGA（現(xiàn)場(chǎng)可編程門陣列）的電子控制系統(tǒng)來(lái)對(duì)直流電機(jī)進(jìn)行伺服控制也是眾多方法中的一種。 本設(shè)計(jì)以 FPGA 現(xiàn)場(chǎng)可編程邏輯器件做為中央控制器件， 對(duì)信號(hào)進(jìn)行處理，速度快，可靠性高；并以 AD1674 為數(shù)據(jù)采集系統(tǒng)的核心部件；硬件驅(qū)動(dòng)電路采用大功率 MOSFET 管所構(gòu)成的單極可逆 H橋電路 ， 并采用 PWM 方式驅(qū)動(dòng)電路 。設(shè)計(jì)采用前、反饋復(fù) 合算法，使用 VHDL 語(yǔ)言編程。設(shè)計(jì)采用三環(huán)控制原理，既對(duì)位置環(huán)、速度環(huán)、電流環(huán)進(jìn)行控制，從而使得電流的靜態(tài)跟動(dòng)態(tài)性能都得到提高。 本設(shè)計(jì)用 Quartus II 對(duì)直流電機(jī)伺服系統(tǒng)的各個(gè)環(huán)節(jié)進(jìn)行程序的編寫與仿真。論文中給出了各個(gè)模塊的 VHDL 代碼，以及這些模塊相對(duì)應(yīng)的時(shí)序仿真。 本設(shè)計(jì)主要以 用 Quartus II 軟件 進(jìn)行 編程與仿真為主。 關(guān)鍵字： 直流電機(jī) ， 伺服控制， VHDL， FPPGA， PWM 2 Abstract Dc motor to be used widely because of high speed, high accuracy, high efficiency, wide range of speed , load ability, good control performance and other characteristics, widely used. Now society as EDA the development of technology, digital control method of realization motor has been changed innovation, based on FPGA (field programmable gates array) of electronic control system of dc motor servo to control is also one of the many methods. This design with FPGA field programmable logic devices as the central control device, the signal processing, speed and reliability。 And with AD1674 of data collection system for core ponents。 Hardware circuit adopts high power MOSFET tube drivers made of a unipolar reversible H bridge circuit, drive circuit and using PWM way. Design the previous, feedback posite algorithm, the use of VHDL language programming. Design USES threeloop control principle, not only the position loop, speed loop, current loop control, so that the current static dynamic performance with are improved. This design with qartus II to dc motor servo system every link of the programs to write and simulation. Paper gives each module of VHDL code, and the corresponding simulation of the succession of the module. This design mainly use quartus ii software programming and simulation. KEYS: Dc motor， servocontrol , VHDL , FPGA , PWM 3 目錄 摘要 ................................................................................................................................................. 1 Abstract ........................................................................................................................................... 2 第一章 引言 ................................................................................................................................... 4 伺服系統(tǒng)的概念 ............................................................................................................. 4 伺服系統(tǒng)的發(fā)展歷史 ......................................................................................... 4 伺服系統(tǒng)的發(fā)展趨勢(shì) ......................................................................................... 4 電機(jī)控制的發(fā)展概況 ..................................................................................................... 4 電機(jī)控制器的發(fā)展 ......................................................................................................... 4 功率半導(dǎo)體器件的發(fā)展 ................................................................................................. 5 第二章 系統(tǒng)控制原理 ................................................................................................................... 6 PWM 控制原理 (Pulse Width Modulation) .............................................................. 6 控制原理 .......................................................................................................................... 7 第三章 算法的設(shè)計(jì) ....................................................................................................................... 8 前饋算法設(shè)計(jì) ................................................................................................................. 8 反饋算法設(shè)計(jì) ................................................................................................................. 9 PI 算法原理 ........................................................................................................ 9 模糊算法原理 ..................................................................................................... 10 第四章 系統(tǒng)硬件結(jié)構(gòu)概況 ......................................................................................................... 12 硬件電路結(jié)構(gòu) ............................................................................................................... 12 驅(qū)動(dòng)電路 ....................................................................................................................... 12 FPGA 控制電路 .............................................................................................................. 13 隔離電路 ....................................................................................................................... 13 調(diào)理電路模塊 ............................................................................................................... 14 第五章 系統(tǒng)軟件設(shè)計(jì)原理 ......................................................................................................... 15 VHDL 語(yǔ)言的簡(jiǎn)介 .......................................................................................................... 15 VHDL 的全稱 ..................................................................................................... 15 VHDL 語(yǔ)言的特點(diǎn)： ......................................................................................... 15 Quartus II 簡(jiǎn)介 ......................................................................................................... 16 Quartus II 的特點(diǎn) ......................................................................................... 16 Quartus II 對(duì)第三方 EDA 工具的支持 ......................................................... 16 軟件框圖組成 ............................................................................................................... 17 軟件系統(tǒng)主要控制模塊 ...............................................................................................