基于FPGA的多功能多路舵机控制器的实现

利用现场可编程门阵列(FPGA)构建了一个可编程片上系统(SOPC)实现能同时控制多个伺服舵机的控制器,用于遥控/自控飞艇的控制。该片上系统的硬件部分主要由串口通信模块、NIOS-IICPU模块、脉宽调制(PWM)信号发生模块、PWM信号脉宽计数模块以及多路开关模块组成。软件部分主要是串口通信软件。其中,PWM信号发生模块可通过串口通信灵活地设置每路PWM信号的占空比。仿真和实验结果表明,该控制器可根据串口通信数据,可靠地对每个伺服舵机进行独立控制,且舵机运行平稳无颤振。

Design of Multi-Channel Servo-Motor Controller Based on FPGA

To airship working in both remote-control mode and auto-control mode,the controller activated by a programmable system on chip is proposed.The system is based on filed programmable gate array(FPGA)and can control several motors in the same time.The system-on-chip implemented consists of hardware and software.The hardware part major consists of serial communication module,NIOS-II CPU module,pulse width modulate(PWM)signal generating module,PWM signal pulse counter module and remote-control/auto-control switching module.The software part is serial communication.PWM signal modules can set duty for each channel of the PWM signal flexibly and independently by serial communication.Simulation and experimental results show that the controller can receive communication data reliably and control each motor independently and the operation of motor is stable.