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1、I摘 要由于电气化的日益普及以及对运动控制系统的精度要求越来越苛刻，用电气传动控制机构代替机械传动控制机构来实现性能更加优越的运动控制日益成为当下的一种研究趋势。由于电子齿轮可将指令控制器输入指令 1 个脉冲的工件移动量设定为任意值，即匹配电机发出的脉冲数与机械的最小移动量，使其在传动系统由机械化到电气化的转变方面起到重要的推动作用，而且随着相关研究的进一步深入，一定会在不久的将来在传动和运动控制领域发挥更广泛的作用。通过在电路设计中使用 FPGA 芯片，可以极大减少分立元件的使用，除了少数接口电路外，大多数逻辑都可在片内实现。由于可以在系统编程，即随时根据用户的需要更改配置，因此它具有灵活的
2、仿真和硬件电路验证手段，为运动控制领域的研究提供了一种新思路和新方法。本文利用 Altera 公司的 CycloneII 系列 EP2C8Q208C8 型号 FPGA 芯片，结合其集成开发环境 QuartusII，对电子齿轮控制系统中的关键技术进行了研究并最终完成了仿真实验，本文开展了如下几个方面的研究工作：（1）阐述了电子齿轮控制技术及其特点，介绍了 FPGA 芯片原理、相关的开发工具、语言和基本开发流程。（2）根据实现结构的不同，把应用电子齿轮的数控系统分为主从式和并列式两种，前者建立在从属关系上，而后者建立在常值控制的基础上。（3）重点研究了电子齿轮控制系统的传动精度误差的产生原理，给出
3、了适合电子齿轮控制系统的 PID 控制策略并进行了一定的分析。（4）总结了锁相环技术在电子齿轮控制系统中的应用和价值，对电子齿轮控制关键技术脉冲分、倍频技术进行了深层次的研究和剖析；利用 Altera 公司的 QuartusII 开发环境和 FPGA 开发板，完成了基于 FPGA 的参数化通用分频器的设计和实现，并取得了理想的仿真效果。（5）完成了对电子齿轮控制系统中的典型模块 A/D 转换模块和 D/A 转换模块的建模和实验分析。（6）总结了研究过程中的得与失，并对将来的工作进行了展望。关键词：电子齿轮控制技术，FPGA，锁相环，分频器，误差研究IIAbstractDue to the in
4、creasing popularity of electrification as well as more and more demanding of precision on motion control systems, using electric drive and control institutions to replace mechanical transmission control mechanism in order to achieve superior performance of motion control is increasingly becoming a k
5、ind of contemporary research trend. As electronic gear can set the input command pulse volume of workpiece movement to an arbitrary value, that matches the pulse issued by motor and the smallest amount of mechanical movement, making it plays an important role in promoting the transmission system fro
6、m mechanization to electrification. With the further in-depth research, it will certainly play a broader role in the field of transmission and motion control in the near future.We can greatly reduce the use of discrete components based on FPGA. Apart from a few interface circuits, most of the logic
7、can be achieved in the chip. As it can be programmed in the system, namely that the configurations can be changed at any time based on the needs of users, so it has a flexible circuit simulation and hardware verification tools, provideing a new thinking and a new method in the field of motion contro
8、l research. In this paper, Using Alteras EP2C8Q208C8 chip of Cyclone II series FPGA, combined with its integrated development environment-Quartus II, the key technology of electronic gear control system has been studied and some simulation experiments have been done too. Main content is divided into
9、 the following areas:(1) Described the electronic gear control technology and its characteristics; the principles of FPGA; the associated development tools, languages, and basic development process.(2) According to the differents of principle and control method, the CNC systems which using electroni
10、c gear can be divided into master-slave structure which based on the principles of tracking servo IIIand parallel structure which based on the principles of fixed-value control theory.(3) The driving accuracy and transmission error of electronic gear control system was researched and the solutions o
11、f errors have been resolved too. Some control strategies of electronic gear control system has been given.(4) The application and the value of PLL technology in electronic gear control system were summed up. The key technology of electronic gear control system-the pulsed frequency-division and frequ
12、ency-multiplication technology was researched and analyzed in-depth. The parametric universal frequency divider based on FPGA was designed and realized in hardware using Alteras Quartus II development environment and a FPGA development board. The simulation results are satisfactory.(5) The modeling
13、and experimental analysis of A/D and D/A conversion modules which are typical in electronic gear control system were completed.(6) The gains and losses in the research process were summed up, and the future work was prospected too.Keywords：Electronic Gear Control Technology, FPGA, PLL, Frequency Divider, Error ResearchIV目 录摘 要 .IAbstract .II第 1 章 绪 论 .11.1 电子齿轮控制技术概述 .11.2 课题研究的目的和意义 .21.3 国内外研究现状 .31.4 论文主要研究内容 .4第 2 章 相关技术原理及开发工具介绍 .52.1 FPGA 芯片结构 .52.2 开发环境与开发语言 .82.2.1 Quartus开发环境 .82.2.2 Verilog HDL 语言 .92.3 基于 QuartusII 的 FPGA 开发流程 .92.4 小结 .11第 3 章 电子齿轮控制系统结构及误差研究 .
