基于FPGA和NiosⅡ的运动控制器研究

Development of Motion Control System Based on Nios Ⅱ and FPGA

采用现场可编程门阵列(FPGA)+NiosⅡ的硬件设计方案,设计一款三轴运动控制器。在FPGA内部嵌入NiosⅡ软核CPU,并利用这个CPU实现速度控制和粗插补算法,同时利用FPGA硬件逻辑实现串口控制、I/O处理及精插补算法,软硬件协同完成高速、高精度运动控制。测试结果表明:该运动控制卡具有电路紧凑、性价比高、实时性强等优点。

A kind of design scheme based on Field programmable gate array （ FPGA ） ＋ NiosⅡwas pro-posed , and a kind of motion controller for controlling 3-axis servo motor was implemented by FPGA . The NiosⅡsoft core is adopted in FPGA , the speed control and imprecise interpolation algorithm were achieved though this soft CPU . UART, I/O processing and accurate interpolation algorithm were executed through hardware. High-precision , high-speed motion control was completed based on hardware-software synergy . Testing result shows that the controller has advantages of circuit compact , high ratio of price/performance , excellent real-time performance.