The Design And Implementation Of Multi-moter Control System Based On FPGA

With the development of modern science and technology,high-density storage system has become the latest development trend of modern warehousing logistics,as the core of intelligent warehousing system,the control performance has a significant impact on storage efficiency has a significant impact on storage efficiency.As the complexity of the modern logistics shuttle is getting higher,the traditional multi-motor discrete control method is no longer applicable,so the study of stable and efficient integrated multi-motor motion control system has very important practical significane.Because FPGA different logic can be executed in parallel,it can simultaneously deal with different tasks,so using a single FPGA processor to achieve multi-motor control system with lower cost,shorter system design cycle,higher stability and other advantages.This thesis uses a FPGA chip to achieve 5-way motor coordinated control.Permanent magnet brushless DC motor(BLDCM)has the advantages of high power density,simple structure,good speed performance and other significant advantages It can be widely used in robots,electric vehicles and other fields,the 5 motors involves in this thesis are permanent magnet BLDCMs.Based on the development of BLDCM control system,this thesis introduces the structure and control principle of the motor body.On this basis,the equivalent circuit diagram,kinematic model and mathematical model of the BLDCM are deduced.Based on the closed-loop control of position,a closed-loop control strategy of brushless DC motor based on PWM modulation technology and PID control technology is proposed.Simulink platform is used to build the simulation model,and the feasibility of the control algorithm is proved theoretically.Based on the function and characteristics of FPGA,this thesis firstly designs the single motor drive system for the actual movement of different motors,and on this basis,the multi-motor coordinated control is realized.The hardware design of the system includes the system main circuit design,the position detection circuit design,the current detection circuit design,the communication circuit design,the power drive circuit and so on.The system software design part is realized by Verilog language.The closed-loop control and PID control of the system are realized by software programming.The main program of the system realizes the parallel closed-loop control of multiple motors by calling the subprogram module designed in advance.The data exchange between the system and host computer is completed by the off-chip SRAM.After the completion of the system hardware and software design,through the construction of the test platform for continuous testing and continuous improvement of the system to achieve the parallel control of five motors.Test results show that the motor in the no-load and load conditions,dynamic response is good,accurate position closed-loop control.Finally,the system has been successfully applied to the warehouse logistics shuttle,the shuttle in a variety of operating conditions to run well,to meet the design requirements.