Design Of Multi-channel Stepper Motor Control Systerm Based On STM32 And FPGA

With the rapid development of microelectronics and computer science,stepper motors are increasingly used in various fields because of their simplicity and reliability.Stepping motor is a kind of open loop control motor,and plays an important role in the automatic control system.The stepper motor is the main executive element of the automatic control system.In the case of non-overload,the speed and stop position of the stepper motor depends only on the frequency and the number of pulses of the pulse signal,regardless of the load variation.The traditional stepper motor control system uses MCU and DSP as its core,usually uses the timer to produce the control pulse,therefore occupies the considerable system resources,the pulse frequency is restricted by the micro controller,the control system and Driver circuit design is complex and expensive,and after the completion of the design is difficult to modify or flexible application to other occasions,the system is relatively poor portability,and difficult to achieve human-computer interaction,low control accuracy.The actual work and production process usually requires multiple devices to coordinate the completion of the interaction,so you need to use multiple stepper motor control.There are many ways to control multiple motor linkage control.Generally speaking,it is possible to use multiple CPUs to control multiple motors together.However,this method improves the hardware cost of the system and increases the difficulty of design.With the number of CPUs and Increasing the number of components,the stability and reliability of the control system is difficult to guarantee.In order to solve the above problems,this paper presents a multi-channel stepping motor control system based on ARM and FPGA(Field Programmable Gate Array).The control system to STM32 and FPGA as the core controller,to complete the eight stepper motor real-time precise control function.The system consists of the host computer,STM32,FPGA and stepper motor driver and other four parts.The host computer is responsible for the definition,management and monitoring of the system parameters,and displays and saves the data of each stepping motor,and provides a simple and intuitive human-computer interface without participating in the real-time control of the stepper motor.STM32 control module and the PC side of the host computer and FPGA state conversion and frequency module to communicate,in order to achieve their three data and command transfer between the processing.The FPGA is written in the hardware programming language Verilog-HDL.The FPGA in the real-time control module is responsible for communicating with the STM32 microcontroller and executing the related commands sent by the host computer to realize the output of the control pulse,thus controlling the switching between the start,acceleration and deceleration of the stepping motor.The L297 chip in the stepper motor driver is responsible for assigning the control pulse signal input from the FPGA according to a certain law,and then through the L298 chip for power amplification,the final realization of the eight stepper motor control.The grating sensor sends the real-time running status data of the motor to the FPGA and finally enters the STM32 to compare with the control signal sent to the motor to compare the operation of the control motor accurately to achieve the closed-loop control of the stepping motor.