| 胡呈祖.基于FPGA的梯形加减速运动控制算法[J].轻工机械,2020,38(6):60-63 |
| 基于FPGA的梯形加减速运动控制算法 |
| Trapezoid Acceleration and Deceleration Motion Control Algorithm Based on FPGA |
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| DOI：10.3969/j.issn.1005 2895.2020.06.011 |
| 中文关键词: 运动控制 梯形加减速 现场可编程门阵列 查表法 |
| 英文关键词:motion control trapezoid acceleration and deceleration FPGA（Field Programmable Gate Array） look up table method |
| 基金项目: |
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| 中文摘要: |
| 针对运动控制系统加减速控制算法实现难，占用硬件资源多的缺点，在分析梯形加减速算法原理的基础上，笔者提出了基于现场可编程门阵列（FPGA）通过查表法实现加减速控制的方案。文中给出了速度数据表的建立方法和梯形加减速控制的RTL视图，利用MATLAB对算法进行了功能仿真，搭建实验平台对算法进行验证。实验结果表明：以查表的方式进行梯形加减速控制，运行速度曲线平滑、系统实时性高、占用FPGA资源少，对于优化运动控制系统轨迹响应具有重要意义。 |
| 英文摘要: |
| Aiming at the shortcomings that the acceleration and deceleration control algorithm of motion control system is difficult to implement and takes up more hardware resources, a look up table scheme of acceleration and deceleration control based on the FPGA was put forward on the basis of the analysis of the principle of trapezoid acceleration and deceleration algorithm. The method of building velocity data table and RTL view of trapezoid acceleration and deceleration control were presented. The algorithm was simulated by MATLAB and an experimental platform was built to verify the algorithm. The experimental results show that the trapezoidal acceleration and deceleration control based on look up table has smooth running speed curve, high real time performance and less FPGA resources occupancy, which is of great significance for optimizing the trajectory response of motion control system. |
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