关键词: 直流微电机, FPGA, 位置伺服控制器, 自适应控制

Abstract:

A position servo controller for DC micro motor based on field programmable gate array (FPGA) was designed in verilog hardware description language (HDL). The proportion integration differentiation (PID) control loop was optimized by self-adaptive adjustment of parameters, which increased position response speed and decreased position error. A compensation mechanism was used to eliminate the static error caused by blank time of the H bridge. The simulation shows that calculation results of the controller is the same as expected. The experiment shows that rapid and accurate position control of DC micro motor was achieved. Instantiation of more controllers in FPGA chips leads to multi-axis motors controlling, making for multi-axis micro motor control system miniaturization.

Key words: DC micro motor, field programmable gate array (FPGA), position servo controller, self-adaptive control