基于FPGA的数字舵控系统设计与实现

为满足飞行器对舵机系统的数字化、高精度、实时性、控制效率的要求,电动舵机采用三相无刷直流电机+谐波减速器的结构形式,控制系统采用一个控制器控制四路舵机.介绍了一种数字化舵机控制系统的硬件组成和控制策略,以FPGA为控制核心,包括中央处理电路,驱动电路,反馈电路等,采用位置环、速度环和电流环三环控制策略,实现一个控制器对四路舵机的独立控制.试验表明,该舵机控制系统易于实现,控制精度高且控制效率高.

Design and Implementation of a Digital-electric Servo System based on FPGA

In order to meet the requirements of the digital, high precision, real-time and control efficiency of the servo system, the combination of BLDC directed by harmonic reducer was used to the electric actuator, and one controller is corresponded to four actuators in the paper. The paper introduced the structure solution and control strategy of the controller. The controller used the FPGA as the core, including the central processing circuit, drive circuit, feedback circuit etc.We accomplish the digital actuator control system through the three closed-loop control strategy including position loop, speed loop and current loop. Experiments results show that the system is easy to design and realize.