浙江大学硕士学位论文 摘要
摘要
论文以直流电机为研究对象，应用了先进的FPGA技术，设计了一种全数字的步进电机控制系统，通过了仿真、综合和下载的各个程序测试环节，并在实验中得到了良好的应用。
本论文分析了直流电机工作原理以及其具体的控制过程，然后阐述了FPGA的设计原理以及所涉及到的相关芯片，接着对所要应用的硬件语言VHDL方面的知识进行了简要地介绍，这些为论文的具体设计部分提供了理论基础。
本系统针对需要实现对直流电机的调速，设计出了一种符合要求的连续可调的脉冲信号发生器，对整个系统进行模块化设计，并且每个子模块都通过了仿真测试。系统采用了模块化的设计思路，为系统的设计和维护提供了方便，同时也提高了系统性能的可扩展性。系统采用一种软件硬化的设计思路，应用了VHDL硬件语言，该语言较容易理解。软件也是采用了目前应用比较广泛的几种。
FPGA+VHDL+EDA工具构成的数字系统现场集成技术，是本系统设计的核心部分，该门技术具有操作灵活、利用广泛以及价廉等特点。该门技术具有旺盛的生命力和广阔的前景，必然推动着整个集成电路产业系统集成的进一步发展。整个系统设计采用了全数字化的控制方案，使系统更加紧凑、更加合理以及经济节约。由于系统的全数字化，使得整个系统运行变得十分可靠，调试也极为方便。作为一种先进技术的应用，论文在很多方面做了新的尝试。
关键词： 直流电机，现场可编程门阵列，硬件描述语言，
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浙江大学硕士学位论文 Abstract
Abstract
In this paper,DC motor as the study, with the application of FPGA-advanced technology, designs an all-digital stepper motor control system, through various program text links of the simulation, synthesis and downloads, and gets a good application in experiments.
This paper analyzes the DC motor works, as well as its specific control process, describes the FPGA design principles and the related chips those are involved, then gives a brief introduction on the knowledge of applied hardware language VHDL , all these provides a theoretical basis for the specific design sections of the paper.
The system against the achievement of the DC motor speed control, designs a continuously adjustable pulse signal generator that can meet the requirements , and modular programmings for the whole system, each sub-module has pasted the simulation tests. The system uses a modular design concept. It's not only convenient for the system design and maintenance, but also improve the performance of the system scalability. The system adopts software hardening ideas, applies the VHDL hardware language which is easy to be understood. The software is also adopt severals which are used widely at present.
FPGA + VHDL + EDA tools constitute the field of digital system integration technology, as a core part of the system design, the skill with operational flexibility ,cheap and widely use. This kind of technology has strong vitality and broad prospects, and will further the development of system integration of the entire IC industry. The whole system uses a fully digital control scheme, making the system more compact, more rational and economical. Because the system's all digital, the operation of the whole system become very reliable , the debugging is convenient,too. As an advanced technology, the paper makes many new attempts in several sapects. Key Words： DC motor,Field programmable gate array，VHDL
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浙江大学硕士学位论文 目录
目录
摘要 ...............................................................................................................................i Abstract ........................................................................................................................ ii 第1章 绪论 ................................................................................................................1 1.1 课题背景 ..............................................................................................................1 1.2 研究的目的及其内容 ..........................................................................................2 1.3 研究内容及其安排 ..............................................................................................3 1.3.1 研究内容 .......................................................................................................3 1.3.2 本文的安排 ...................................................................................................3 1.4 本章小结 ..............................................................................................................3 第2章 电机的基本知识 ............................................................................................4 2.1 直流电机的特点 ..................................................................................................4 2.2 直流电机的基本结构 ..........................................................................................4 2.3 直流电机的工作原理 ..........................................................................................6 2.3.1 直流电机的励磁方式 ...................................................................................7 2.3.2 直流电机的基本方程式 .............................................................................12 第3章 FPGA与硬件描述语言 ...............................................................................14 3.1 数字系统集成的基本概念 ................................................................................14 3.1.1 工艺集成技术 .............................................................................................14 3.1.2 现场采集技术 .............................................................................................14 3.2 FPGA设计流程 ..................................................................................................21 3.3 硬件描述语言设计方法 ....................................................................................23 3.3.1 硬件描述语言发展概况 .............................................................................23 3.3.2 Verilog HDL目前的应用情况与适用的设计 ............................................23 3.3.3 采用硬件描述语言的设计流程 .................................................................23 3.4 本章小节 ............................................................................................................25 第4章 直流电机系统设计方案 ..............................................................................26 4.1 直流电机控制实现方案的比较 ........................................................................26 4.1.1 以DSP为核心的电机控制系统与单片机的电机控制系统的比较 ........26 4.1.2 FPGA设计与单片机设计的比较 ...............................................................27 4.1.3 硬件描述语言设计与传统技术设计对比 .................................................28
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浙江大学硕士学位论文 目录
4.1.4 FPGA与DSP的对比 ................................................................................30 4.1.5 方案选择 .....................................................................................................30 4.2 系统设计框图 ....................................................................................................30 4.2.1 模块功能简介 .............................................................................................31 4.3 设计的目的及其要求 ........................................................................................32 4.3.1 功能要求 .....................................................................................................32 4.4 本章小结 ............................................................................................................32 第5章 模块设计 ...................................................................................................33 5.1 PID控制模块 ......................................................................................................33 5.1.1 增量式PID控制算法 .................................................................................37 5.2 PWM产生模块 ...................................................................................................47 5.2.1 PWM的定义及原理 ....................................................................................47 5.2.2 PWM波的实现 ............................................................................................48 5.2.3 计数及数码管显示模块 ...........................................................................49 5.3 本章小节 ...........................................................................................................52 第6章 硬件电路设计 ..............................................................................................53 6.1 转速检测电路设计 ............................................................................................53 6.1.1 转速检测电路设计方案比较与分析 .........................................................53 6.2 电机速度显示电路 ............................................................................................54 6.2.1 电机速度显示模块电路方案比较与分析 .................................................54 6.3 电机驱动电路 ....................................................................................................55 6.3.1 H桥电机驱动电路原理 ..............................................................................55 6.3.2 H桥驱动电路设计 ......................................................................................56 第7章 总结及其展望 ..............................................................................................57 参考文献 ....................................................................................................................58 作者简历 ....................................................................................................................60 致谢 ............................................................................................................................61
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浙江大学硕士学位论文 图目录
图目录
图 2.1直流电机的结构 .........................................................................................5 图 2.2直流电动机工作原理图 .............................................................................7 图 3.1单端系列边界扫描链 ...............................................................................19 图 3.2反熔丝原胞 ...............................................................................................21 图 3.3基于ISE的FPGA设计基本流程 ...........................................................22 图 3.4自顶向下设计思想 ...................................................................................24 图 3.5 HDL设计流程 ..........................................................................................25 图 4.6 Verilog HDL与VHDL建模能力的比较 ............... 错误！未定义书签。 图 4.1系统设计框图 ...........................................................................................31 图 5.1实际微分PID算法框图 ...........................................................................34 图 5.2增量式PID控制算法结构图 ...................................................................38 图 5.3数值转换图 ...............................................................................................39 图 5.4乘法器modelsim仿真图..........................................................................41 图 5.5乘法器仿真图2 ........................................................................................42 图 5.6四位加法器仿真图 ...................................................................................43 图 5.7四位加法器仿真图2 ................................................................................44 图 5.8 16位加法器仿真图 ..................................................................................46 图 5.9 16位加法器仿真图2 ...............................................................................46 图 5.10PWM产生模块仿真图 ............................................................................49 图 5.11PWM产生模块仿真图2 .........................................................................49 图 5.12分频模块仿真图 .....................................................................................50 图 5.13计数模块仿真图 .....................................................................................51 图 6.1GK105标准接法........................................................................................53 图 6.2光电开关GK105检测电路......................................................................54 图 6.3H桥直流电机驱动原理图 ........................................................................55 图 6.4H桥驱动电路设计电路图 ........................................................................56
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