Design of a FPGA based position PI servo controller for a DC motor with dry friction

2011 VII Southern Conference on Programmable Logic (SPL) Pub Date : 2011-04-13 DOI:10.1109/SPL.2011.5782628

Luis F. Castaño, G. Osorio

引用次数: 8

Abstract

In this paper we present the design, implementation and experimental validation of a FPGA based position servo controller for a DC motor with dry friction. VHDL and block diagram modules for trajectory generation, encoder signal decoding, PI controller and PWM control signal generation are described. The control system is implemented in the DE3 board of Terasic Technologies Inc using Quartus II environment of Altera Corporation. Servo system simulation was made using Simulink. The analytical non linear model for the anti-windup saturation on the integral control action, saturation on the actuator and dry friction is validated through experiments and simulations.

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基于FPGA的干摩擦直流电机位置PI伺服控制器设计

本文介绍了一种基于FPGA的干摩擦直流电机位置伺服控制器的设计、实现和实验验证。描述了轨迹生成、编码器信号解码、PI控制器和PWM控制信号生成的VHDL和框图模块。该控制系统采用Altera公司的Quartus II环境，在Terasic Technologies Inc .的DE3板上实现。利用Simulink对伺服系统进行仿真。通过实验和仿真验证了积分控制动作抗上弦饱和、作动器饱和和干摩擦的非线性解析模型。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2011 VII Southern Conference on Programmable Logic (SPL)

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