基于FPGA的运动控制系统加减速算法设计
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摘要
为提高运动控制系统的实时性、运动精度、速度的平稳性,比较了各种加减速算法的优缺点、硬件实现的可行性等,采用FPGA实现了灵活的梯形加减速,利用滑动平均滤波器解决了加速度的跳变问题,实现了与S形加减速等效的加减速效果,最后给出了相应的RTL视图、程序流程图,并对这2种加减速曲线的实现方法进行了功能仿真验证及实验验证。
In order to improve the real-time performance,motion precision and speed stability of motion control system,the advantages and disadvantages of various acceleration and deceleration algorithms,the feasibility of hardware implementation were compared. FPGA was used to realize the flexible trapezoid acceleration and deceleration,moving average filter was used to solve the acceleration of the jump,achieving the equivalent effect for the acceleration and deceleration of the S-shaped curve. Finally,the corresponding RTL view and program flow chart were given,and the realization methods of these two kinds of acceleration and deceleration curves were simulated and verified.
In order to improve the real-time performance,motion precision and speed stability of motion control system,the advantages and disadvantages of various acceleration and deceleration algorithms,the feasibility of hardware implementation were compared. FPGA was used to realize the flexible trapezoid acceleration and deceleration,moving average filter was used to solve the acceleration of the jump,achieving the equivalent effect for the acceleration and deceleration of the S-shaped curve. Finally,the corresponding RTL view and program flow chart were given,and the realization methods of these two kinds of acceleration and deceleration curves were simulated and verified.
引文
[1]廖义奎.ARM与FPGA综合设计及应用[M].北京:中国电力出版社,2008.
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[6]杨雁,王云宽,宋英华.基于FPGA的数控加减速控制器的设计[J].数控机床功能部件,2007(6):31-34.
[7]于东,胡韶华,盖荣丽,等.基于滤波技术的数控系统加减速研究[J].中国机械工程,2008,19(7):804-807.
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[9]张滨,杜启亮,田联房.基于FPGA的步进电动机加减速控制器[J].微特电机,2012,40(8):71-74.
[10]Avnesh Verma unil hingra,Soni K.Design and synthesis of FPGA for speed control of induction motor[J].International Journal of Physical Sciences,2009(11):11-17.
[11]刘楚辉.数控系统加减速控制与程序段终点速度规划[J].组合机床与自动化加工技术,2003(9):56-60.
[12]杨雪峰.基于FPGA的运控控制卡的研究与开发[D].南京:南京航空航天大学,2010.
[2]夏宇闻.从算法设计到硬线逻辑的实现[M].北京:高等教育出版社,2000.
[3]陈光静,郭力振,陈明贵.基于FPGA的多轴控制器设计[J].电子设计工程,2013(3):148-151.
[4]黄昭县,王志成.一种对称式直线加减速方法[J].组合机床与自动化加工技术,2014(4):68-75.
[5]刘艳强,王健,单春荣.基于Ether CAT的多轴运动控制器研究[J].制造技术与机床,2008(6):100-103.
[6]杨雁,王云宽,宋英华.基于FPGA的数控加减速控制器的设计[J].数控机床功能部件,2007(6):31-34.
[7]于东,胡韶华,盖荣丽,等.基于滤波技术的数控系统加减速研究[J].中国机械工程,2008,19(7):804-807.
[8]丛爽,李泽湘.实用运动控制技术[M].北京:电子工业出版社,2006.
[9]张滨,杜启亮,田联房.基于FPGA的步进电动机加减速控制器[J].微特电机,2012,40(8):71-74.
[10]Avnesh Verma unil hingra,Soni K.Design and synthesis of FPGA for speed control of induction motor[J].International Journal of Physical Sciences,2009(11):11-17.
[11]刘楚辉.数控系统加减速控制与程序段终点速度规划[J].组合机床与自动化加工技术,2003(9):56-60.
[12]杨雪峰.基于FPGA的运控控制卡的研究与开发[D].南京:南京航空航天大学,2010.