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1、xx 大学学士学位论文- I -基于基于 NiosNios IIII 的的 PWMPWM 直流电机控制系统设计直流电机控制系统设计摘要摘要电力电子技术、微处理器技术、信号检测与处理技术、自动控制理论和计 算机应用技术的发展以及永磁材料技术的进步，极大地推动了运动控制系统向 纵深发展。从而加速了直流电动机调速及伺服系统向一体化电动机以及控制数 字化方向发展的进程，为运动控制系统的高实时性、强稳定性的控制要求提供 了保障和依据。针对运动控制系统的高实时性、强稳定性的控制要求，开发高 精度、高效率和开放式的运动控制器具有十分重要的意义。 本文以两相直流电机为控制对象，采用基于Nios II的自定制A
2、valon外设技 术，以单芯片大容量现场可编程门阵列(FPGA)为核心控制器，设计了基于可编 程片上系统(SOPC，System on Programmable Chip)技术的运动控制器。 本文首先介绍了电气传动系统和PWM技术的基本情况，说明了本文设计的 控制系统所使用的技术。其次，本文介绍了利用嵌入FPGA内部 Nios II软核来 构建一个真正意义上的小型SoC(System On a Chip)直流电机控制系统的具体方法， 并以此说明了SOPC思想和实现途径。该系统采用通用的PWM直流电机调速方 案，并使用ALTERA公司的DE2开发板上的FPGA芯片EP2C35F672C6作为系统
3、 控制器， 同时利用硬件描述语言将调速控制所需的一些电路高度集合成直流电 机控制系统，从而为电机的控制提供了一种新的思路。最后，本文给出了控制 系统软件中的几个关键函数，说明了系统是如何控制电机运动的。 依据上述的设计思想，做出了实体模型并进行验证测试，相关运行结果证 明了设计的可行性和正确性。本文所采用的Nios II软核组成的SOPC系统技术解 决方案具有集成度高、灵活性强、扩展性好、可以大大缩短产品的开发周期的 优点和特点。关键词关键词 直流电机控制；脉宽调制（PWM）;现场可编程门阵列（FPGA） ；可编程 片上系统（SOPC） ；硬件描述语言xx 大学学士学位论文- II -Base
4、d on the Nios II PWM DC Motor Control System DesignAbstractAlong with the development of electronic technology, microprocessor technology, signal detection and processing technology, automatic control theory and computer application technology and permanent magnet materials technology, people have m
5、ade a great progress on the movement control system. Thus speeding up the DC motor the speed governing and servo systems evolving into the integrative motor and the control digital direction of proceedings, for the Motion Control System of high real-time, strong stability of the control requirements
6、, provides a guarantee and basis. In accordance with Motion Control System for the high real-time, strong stability of the control requirements, development of high precision and high efficiency and open the Motion Controller of great significance. In this thesis, two-phase DC motor to control the o
7、bject, to use the Nios II-based Avalon peripherals customized technology, to use large-capacity single-chip field programmable gate array(FPGA)as the core controller, design based on programmable chip system (SOPC, System on Programmable Chip) technology of motion controller. At first, this thesis i
8、ntroduces the electric transmission system and the basic situation of PWM technology, illustrates the technology of control system, which is designed in this paper. Secondly, the thesis introduces the method of building a true small-scale SoC(System on a Chip)for DC motor control system with embedde
9、d soft-core FPGA internal Nios II and illustrates ideas and the way to the realization of SOPC. This system uses a common DC motor PWM speed control program and the FPGA chip named EP2C35F672C6 on ALTERAs DE2 development board as the system controller. At the same time, it integrates some circuit wh
10、ich is needed by speed control to DC motor control system with the help of hardware description language. Thus it provides a new way of the motor control. Finally, this paper provides several key functions in the control system software to explain how to control the movement of motor. Based on the a
11、bove design, Ive made a solid model and carried out proof tests, the related results proved the feasibility and correctness of this design. The program of the SOPC system technology which are composed of Nios II soft-core in this thesis have many advantages and characteristics, such as highly integr
12、ation, high flexibility, scalability and can greatly shorten the product development cycle.Keywords DC Motor Control; PWM；Field Programmable Gates Array (FPGA)； System On Programmable Chip(SOPC); Hardware Description Language; xx 大学学士学位论文- III -目录目录摘要摘要.I Abstract.II第 1 章 绪论.1 1.1 课题背景.1 1.2 电气传动与 PWM 技术概述.1 1.2.1 电气传动的发展与趋势.1 1.2.2 PWM 技术发展概述.2 1.3 FPGA 概述.2 1.3.1 EDA 简介.2 1.3.2 FPGA 简介.3 1.3.3 Cyclone II 系列 FPGA 简介.3 1.3.4 FPGA 开发基本流程.4 1.4 SOPC 概述.5 1.4.1 SOPC 简介.
