基于FPGA的四轴舵系统的设计与实现

Design and Implementation of an FPGA-Based Four-Axis Actuator Servo System

为了研究和实现高性能、全数字化的舵位置系统,采用VerilogHDL硬件描述语言及EDA工程设计方法,按照时分复用的设计思想,在单片FPGA中实现了四轴全数字舵位置伺服系统,并详细介绍了相关伺服控制IP的设计,包括电流环、速度环和位置环调节器,速度估算模块,多轴时序控制模块。仿真和试验结果表明该舵系统具有良好的动态和稳态性能。

To implement a high-performance and digital actuator position servo system,the Verilog hardware description language（HDL）and the modern EDA design methodology were employed.A full digital position servo control system was integrated on the one-chip FPGA in accordance with the time division multiplex method.In addition,the detailed designs of basic modules,such as current,velocity and position compensator,velocity estimation,multi-axis timing control unit were discussed.Simulation and experimental results show that the proposed scheme has an excellent dynamic and steady-state performance.