基于FPGA的远程直流电机控制系统研究

Research on Remote DC Motor Control System Based on FPGA

针对外场试验中运动控制系统实时性与准确性问题,提出了以FPGA为核心的以太网传输电机运动控制系统方案;通过上位机完成对多个直流电机方向、速度、位置等的远程控制,实现了软硬件相结合;采用YT8511/H芯片、RGMII接口和Altera官方IP核搭建了FPGA的高速以太网通信接口,运用三段式状态机实现了UDP通信协议,通过增量式光电编码器完成电机位置反馈,以Verilog硬件描述语言为基础,编写了电机驱动程序和编码器信号处理程序,对系统的通信、输出脉冲以及编码器信号处理进行了实验和仿真;结果表明,系统满足远距离控制需求,定位精度可达0.09°,有较好的移植性。

In order to solve the real-time and accuracy problem of motion control systems in outfield test,a motor motion control system based on Ethernet transmission by field programmable gate array(FPGA)was proposed.The upper computer is used to remotely control the multiple DC motor directions,speeds,positions,achieving the combination of software and hardware.It adopts the YT8511/H chip,RGMII interface,and Altera official IP core to build the high-speed Ethernet communication interface for FPGA.Besides,the UDP communication protocol was realized by using the three-stage machine,and the motor position feedback was completed through the incremental photoelectric encoder.Based on Verilog hardware description language,the motor driver program and encoder signal processing program were written,and the system communication,output pulse and encoder signal processing were tested and simulated.The results indicate that the system meets the requirements of remote control,with a positioning accuracy of 0.09°,and it has a good portability.