High performance algorithm realization on FPGA for stepper motor controller

Tzung-Cheng Chen, Yun Su
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引用次数: 26

Abstract

This paper focuses on studying the dynamic characteristics of stepper motors. Based on the relation of velocity and torque of stepper motors, a novel algorithm of velocity profile for stepper motor is proposed for straightforwardly realizing on field programmable gate array (FPGA). Missing steps have been a major issue while applying stepper motors on various critical situations. The reason of causing missing steps of stepper motors is due to the high velocity slewing. To alleviate this difficulty, a closed loop control may be applied, but introducing a complex design and more cost than open loop one. If open loop is chosen, the velocity profiles for various applications must be considered to avoid the missing step effect. There are three widespread used profiles: parabolic, trapezoidal, and S-curve profiles. For carrying out the operation of calculating the tedious profiles, a recursive velocity profile algorithm is presented along with a control parameter beta, where 0 < beta < 1, beta=1, and 1 < beta < 2, are corresponding to S-curve, trapezoidal, and parabolic profiles respectively, then this algorithm can be realized on a compact hardware. Thus, a high speed and high precision of stepper motor controller can be achieved by combining a system on chip (SOC) with this hardware.
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基于FPGA的步进电机控制器的高性能算法实现
本文主要研究步进电机的动态特性。根据步进电机速度与转矩的关系,提出了一种新的步进电机速度分布算法,该算法可在现场可编程门阵列(FPGA)上直接实现。当步进电机应用于各种危急情况时,缺步一直是一个主要问题。造成步进电机缺步的原因是由于高速回转。为了减轻这一困难,可以采用闭环控制,但引入了复杂的设计和成本高于开环控制。如果选择开环,则必须考虑各种应用的速度分布,以避免缺阶效应。有三种广泛使用的轮廓:抛物线、梯形和s曲线轮廓。为了完成繁琐轮廓线的计算,提出了一种递归速度轮廓线算法,并设置控制参数beta,其中0 < beta < 1, beta=1, 1 < beta < 2分别对应s曲线、梯形和抛物线轮廓线,该算法可以在紧凑的硬件上实现。因此,通过将片上系统(SOC)与该硬件相结合,可以实现高速高精度的步进电机控制器。
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