本文選題：FPGA　切入點：伺服控制　出處：《合肥工業(yè)大學》2014年碩士論文　論文類型：學位論文

【摘要】：隨著工業(yè)控制領域對高速、高精度以及高響應速度電機需求的不斷增加，電機及其伺服控制技術得到了飛速的發(fā)展。電機是工業(yè)控制中至關重要的部分，是工業(yè)控制系統(tǒng)最主要的執(zhí)行部件，只有電機及其伺服控制技術的進步才能促進工業(yè)控制領域的進一步發(fā)展。伺服控制系統(tǒng)主要由電流環(huán)、速度環(huán)和位置環(huán)構成，其中位置環(huán)的控制性能直接決定了伺服控制系統(tǒng)整體的工作性能，是伺服控制系統(tǒng)設計的關鍵。 傳統(tǒng)PID控制在控制量突變時，會產生較大的超調量，本文針對這個不足進行改進，得出一種改進型PID控制方法，同時利用前饋控制高響應速度的特點，，設計出一種改進型PID加前饋的控制方法，通過仿真驗證該方法相比于傳統(tǒng)PID控制方法具有更小的超調量和更快的響應速度。 本文選用FPGA作為位置環(huán)控制器處理核心，在其內部實現(xiàn)改進型PID加前饋的算法以及部分硬件電路功能。FPGA具有的超大規(guī)模的單芯片容量和類似硬件電路的高速并行處理能力，同時在FPGA芯片內還可以自定義一個32位Nios II軟核處理器，軟核支持常用指令集，可以通過高級編程語言設計程序。在單片F(xiàn)PGA芯片中可以完成類似硬件電路的邏輯控制，同時還能夠通過Nios II軟核來實現(xiàn)復雜的算法。FPGA可以大幅簡化硬件電路的設計，提高設計人員的工作效率。本文設計制作基于FPGA的交流伺服系統(tǒng)位置環(huán)控制器；然后在位置環(huán)控制器的FPGA芯片中完成軟件設計工作；最終通過測試表明，在本文所設計的基于FPGA的位置環(huán)控制器的控制下，伺服電機具有較好的定位精度和跟蹤性能。
[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.
【學位授予單位】：合肥工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2014
【分類號】：TM383.42;TP273

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本文編號：1589101