电力FPGA 硬件电流环 基于FPGA的永磁同步伺服控制系统的设计，在FPGA实现了伺服电机稳态，simulink搭建模型，

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ZIP 硬件电流环基于的永磁同步伺服控制系统的设计在实现了.zip 大约有9个文件
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电力系统稳态，simulink搭建模型， FPGA 硬件电流环 基于FPGA的永磁同步伺服控制系统的设计，在FPGA实现了伺服电机的矢量控制。 有坐标变，电流环，速度环，ad7606采样，电机正交编码器反馈接口，SVPWM，pi运算等等模块。 Verilog语言。
<link href="/image.php?url=https://csdnimg.cn/release/download_crawler_static/css/base.min.css" rel="stylesheet"/><link href="/image.php?url=https://csdnimg.cn/release/download_crawler_static/css/fancy.min.css" rel="stylesheet"/><link href="/image.php?url=https://csdnimg.cn/release/download_crawler_static/89867352/raw.css" rel="stylesheet"/><div id="sidebar" style="display: none"><div id="outline"></div></div><div class="pf w0 h0" data-page-no="1" id="pf1"><div class="pc pc1 w0 h0"><img alt="" class="bi x0 y0 w1 h1" src="/image.php?url=https://csdnimg.cn/release/download_crawler_static/89867352/bg1.jpg"/><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0">FPGA <span class="ff2">硬件电流环</span></div><div class="t m0 x1 h2 y2 ff2 fs0 fc0 sc0 ls0 ws0">摘要<span class="ff3">：</span>本文基于<span class="_ _0"> </span><span class="ff1">FPGA<span class="_ _1"> </span></span>实现了永磁同步伺服控制系统的设计<span class="ff3">，</span>主要包括坐标变换<span class="ff4">、</span>电流环<span class="ff4">、</span>速度环<span class="ff4">、</span></div><div class="t m0 x1 h2 y3 ff1 fs0 fc0 sc0 ls0 ws0">AD7606<span class="_ _1"> </span><span class="ff2">采样<span class="ff4">、</span>电机正交编码器反馈接口<span class="ff4">、</span></span>SVPWM<span class="ff4">、</span>PI<span class="_ _1"> </span><span class="ff2">运算等模块<span class="ff4">。</span>通过<span class="_ _0"> </span></span>Verilog<span class="_ _1"> </span><span class="ff2">语言实现这些模</span></div><div class="t m0 x1 h2 y4 ff2 fs0 fc0 sc0 ls0 ws0">块的设计和优化<span class="ff3">，</span>实现了伺服电机的矢量控制<span class="ff4">。</span>本文将详细介绍每个模块的原理<span class="ff4">、</span>设计过程以及实际</div><div class="t m0 x1 h2 y5 ff2 fs0 fc0 sc0 ls0 ws0">应用效果<span class="ff4">。</span></div><div class="t m0 x1 h2 y6 ff1 fs0 fc0 sc0 ls0 ws0">1.<span class="_ _2"> </span><span class="ff2">引言</span></div><div class="t m0 x1 h2 y7 ff2 fs0 fc0 sc0 ls0 ws0">在现代工业控制系统中<span class="ff3">，</span>伺服电机广泛应用于机械臂<span class="ff4">、</span>自动化设备等领域<span class="ff4">。</span>永磁同步伺服电机作为一</div><div class="t m0 x1 h2 y8 ff2 fs0 fc0 sc0 ls0 ws0">种高效<span class="ff4">、</span>高精度的驱动方式<span class="ff3">，</span>具有响应速度快<span class="ff4">、</span>扭矩密度大<span class="ff4">、</span>体积小等优点<span class="ff4">。</span>为了实现对永磁同步伺</div><div class="t m0 x1 h2 y9 ff2 fs0 fc0 sc0 ls0 ws0">服电机的精确控制<span class="ff3">，</span>本设计基于<span class="_ _0"> </span><span class="ff1">FPGA<span class="_ _1"> </span></span>实现了硬件电流环<span class="ff4">。</span></div><div class="t m0 x1 h2 ya ff1 fs0 fc0 sc0 ls0 ws0">2.<span class="_ _2"> </span><span class="ff2">坐标变换</span></div><div class="t m0 x1 h2 yb ff2 fs0 fc0 sc0 ls0 ws0">在永磁同步伺服电机控制系统中<span class="ff3">，</span>通常采用<span class="_ _0"> </span><span class="ff1">dq<span class="_ _1"> </span></span>坐标系进行控制<span class="ff4">。<span class="ff1">dq<span class="_ _1"> </span></span></span>坐标系是将三相交流信号转换为</div><div class="t m0 x1 h2 yc ff2 fs0 fc0 sc0 ls0 ws0">两相信号<span class="ff3">，</span>方便进行矢量控制<span class="ff4">。</span>在本模块中<span class="ff3">，</span>我们使用<span class="_ _0"> </span><span class="ff1">CLARKE<span class="_ _1"> </span></span>和<span class="_ _0"> </span><span class="ff1">PARK<span class="_ _1"> </span></span>变换实现了<span class="_ _0"> </span><span class="ff1">dq<span class="_ _1"> </span></span>坐标的转换</div><div class="t m0 x1 h2 yd ff3 fs0 fc0 sc0 ls0 ws0">，<span class="ff2">并将其输出作为电流环的输入<span class="ff4">。</span></span></div><div class="t m0 x1 h2 ye ff1 fs0 fc0 sc0 ls0 ws0">3.<span class="_ _2"> </span><span class="ff2">电流环</span></div><div class="t m0 x1 h2 yf ff2 fs0 fc0 sc0 ls0 ws0">电流环是永磁同步伺服电机控制系统中的核心模块<span class="ff3">，</span>用于控制电机的相电流<span class="ff4">。</span>本文使用了<span class="_ _0"> </span><span class="ff1">PI<span class="_ _1"> </span></span>控制算</div><div class="t m0 x1 h2 y10 ff2 fs0 fc0 sc0 ls0 ws0">法<span class="ff3">，</span>通过对电流误差进行测量<span class="ff3">，</span>并根据<span class="_ _0"> </span><span class="ff1">PID<span class="_ _1"> </span></span>参数计算出控制电压<span class="ff4">。</span>同时<span class="ff3">，</span>采用了增量式计算方法<span class="ff3">，</span>提</div><div class="t m0 x1 h2 y11 ff2 fs0 fc0 sc0 ls0 ws0">高了计算效率<span class="ff3">，</span>并降低了硬件资源占用<span class="ff4">。</span></div><div class="t m0 x1 h2 y12 ff1 fs0 fc0 sc0 ls0 ws0">4.<span class="_ _2"> </span><span class="ff2">速度环</span></div><div class="t m0 x1 h2 y13 ff2 fs0 fc0 sc0 ls0 ws0">速度环是永磁同步伺服电机控制系统中的辅助模块<span class="ff3">，</span>用于控制电机的转速<span class="ff4">。</span>本文利用反馈编码器的脉</div><div class="t m0 x1 h2 y14 ff2 fs0 fc0 sc0 ls0 ws0">冲信号<span class="ff3">，</span>结合增量式计数器实现了转速的测量<span class="ff4">。</span>通过<span class="_ _0"> </span><span class="ff1">PI<span class="_ _1"> </span></span>控制算法<span class="ff3">，</span>将转速误差转化为控制电压<span class="ff3">，</span>进</div><div class="t m0 x1 h2 y15 ff2 fs0 fc0 sc0 ls0 ws0">一步控制电机的转速<span class="ff4">。</span></div><div class="t m0 x1 h2 y16 ff1 fs0 fc0 sc0 ls0 ws0">5.<span class="_ _2"> </span>AD7606<span class="_ _1"> </span><span class="ff2">采样</span></div><div class="t m0 x1 h2 y17 ff2 fs0 fc0 sc0 ls0 ws0">为了实现对电机电流和电机转速的测量<span class="ff3">，</span>本文采用了<span class="_ _0"> </span><span class="ff1">AD7606<span class="_ _1"> </span></span>芯片进行信号采样<span class="ff4">。<span class="ff1">AD7606<span class="_ _1"> </span></span></span>是一款高</div><div class="t m0 x1 h2 y18 ff2 fs0 fc0 sc0 ls0 ws0">速<span class="ff4">、</span>多通道<span class="ff4">、</span>低功耗的模拟<span class="ff1">-</span>数字转换器<span class="ff4">。</span>通过其<span class="_ _0"> </span><span class="ff1">8<span class="_ _1"> </span></span>个通道<span class="ff3">，</span>我们可以同时采样多个信号<span class="ff3">，</span>包括电机</div><div class="t m0 x1 h2 y19 ff2 fs0 fc0 sc0 ls0 ws0">电流和编码器反馈脉冲<span class="ff4">。</span></div><div class="t m0 x1 h2 y1a ff1 fs0 fc0 sc0 ls0 ws0">6.<span class="_ _2"> </span><span class="ff2">电机正交编码器反馈接口</span></div><div class="t m0 x1 h2 y1b ff2 fs0 fc0 sc0 ls0 ws0">编码器反馈是永磁同步伺服电机控制系统中反馈信号的重要来源<span class="ff4">。</span>本文通过设计电机正交编码器反馈</div><div class="t m0 x1 h2 y1c ff2 fs0 fc0 sc0 ls0 ws0">接口<span class="ff3">，</span>实现了对编码器脉冲信号的读取和解码<span class="ff4">。</span>通过读取编码器脉冲信号<span class="ff3">，</span>我们可以获取电机的转角</div><div class="t m0 x1 h2 y1d ff2 fs0 fc0 sc0 ls0 ws0">和转速<span class="ff4">。</span></div><div class="t m0 x1 h3 y1e ff1 fs0 fc0 sc0 ls0 ws0">7.<span class="_ _2"> </span>SVPWM</div></div><div class="pi" data-data='{"ctm":[1.568627,0.000000,0.000000,1.568627,0.000000,0.000000]}'></div></div>
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