Design And Implementation Of Motor's Motion Controller Based On FPGA

With the advantage of small volume, big torque, long lifetime, low loss and so on, brushless DC motor obtained the rapid popularization and application in robot and CNC machine industry, but most of motor controllers are foreign products, while one motor controller can only control one motor.Aimed at the problem of more degree of freedom and less mechanical space in the intelligent mobile robot industry, this paper designs a kind of small brushless DC motor controller which can control multiple motors from three aspects of hardware, software and algorithm. In hardware aspect, this paper designs a circuit system which can control multiple motors simultaneously with the same effect of single motor, while use less circuits, due to the advantage of FPGA. In algorithm aspect, this paper both simulates the vector control algorithm, and optimizes and improves the vector control algorithm and PI control algorithm to fill the needs of FPGA platform. In software aspect, this paper uses the Verilog-HDL language and block diagram to realize the motor controller's current loop and speed loop.This paper makes the following innovative research results:1. Put forward the parallel solution base on Verilog-HDL. The motor control algorithm is implemented by logic cells, and one piece of FPGA chip can. control multiple motors following the users'requests. Different logic circuit modules work in parallel, while algorithms of speed loop and current loop also work in parallel. In this way, the motor control performance of parallel control method is greatly improved, compared to the common CPU serial control method, and it won't decrease because of the increasing number of motors.2. Optimize and improve the vector control algorithm of the motor's current loop. This paper processes the vector control algorithm in parallel and change the way of implementation to play advantage of parallel processing, and overcome the weakness of floating point numbers, multiply and divide laws, and negative numbers on FPGA platform.3. Improve the encoder's sampling algorithm of the motor's speed loop, and enhance the encoder's sampling accuracy. This paper analyzes the error source of traditional encoder sampling M algorithm, and puts forward improved M algorithm based on M algorithm, which overcomes the weakness of M algorithm and enhances the sampling accuracy without changing the encoder's line.