Design And Implementation Of Multi Motor Control Platform Based On FPGA

The control of the high-performance muti motor is a key research content during the development of Automatic system.As the muti motor system has the characteristics of complexity,dissimilarity and mutual interference,the controller using MCU and DSP as the core can’t satisfy the various requirement of muti motor control.For the reason that FPGA(Field Programmable Gate Array)has many advantages,such as parallel processing,reconfigurable design,intuitive design process,it can be not only used to realize the complex control algorithm quickly,but also used to control multiple motors and reconstruct the SVPWM interface according to the actual situation.Therefore,in this paper,the multi motor control platform based on FPGA is studied to accord with the control system demand.In this paper,the structure and mathematical model of the PMSM,angle vector control and space vector modulation are firstly introduced.Then the constant torque vector control system of permanent magnet synchronous motor is established based the theory above.In addition,the multi motor coordinated control method and the cross-couple control principle are introduced,and the coordinated control model of double motor is built with simulink.The vector control system of single motor is achieved in the FPGA chip with hardware description language(Verilog HDL).The control system mainly uses the CORDIC-FPGA algorithm and the cycle division operation to realize the vector control,the space voltage vector modulation(SVPWM),PI control,the ADC interface and so on.Through the function and timing simulation of each function module by the Modelsim software,the feasibility of each module is validated.Then the coordinated control platform and man-machine interface are established by using the cross-couple coordination control and Qt.Through the coordinated control platform and man-machine interface,the coordinated speed command is sent to the FPGA through the UART interface and coordinates the motors.Finally,a dual-motors driving servo system is established based on the theory above and the performance of the system is tested.The results show that the dual-motors driving servo system based on FPGA has good dynamic characteristics,and the research work of this dissertation has some practical value for the application of multi motor control method based on FPGA in the field of servo driver.