基于MCF5235和FPGA的控制系统的研究与开发*

作者：贾 辉，何 勇* 日期：2010-09-08/span> 浏览：3774 查看PDF文档

基于MCF5235和FPGA的控制系统的研究与开发*

贾 辉，何 勇*

（东华大学 机械工程学院，上海 201620）
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摘要：多电机同步控制往往由于硬件系统资源不够或者处理速度不够而使控制系统精度不高。为了解决这一问题，使用32位嵌入式单片机MCF5235和现场可编程门阵列（FPGA）设计了一种控制系统，该系统采用位置环、速度环和电流环三闭环实现位置控制。3个闭环控制任务在不同的芯片中进行处理，降低了对主控CPU资源的占用，提高了数据的并行处理能力。同时，将实时操作系统VxWorks嵌入到MCF5235中，对系统任务进行调度和分配，保证了系统的实时性和稳定性，降低了开发难度。在多电机、高转速的情况下，整个硬件控制系统提高了系统的精度和数据处理能力。仿真和实验结果均表明，在高转速的情况下，整个控制系统的动态响应快、超调小、转速波动较小，具有良好的动静态性能。
关键词：MCF5235；现场可编程门阵列；多电机；同步控制；模糊PID控制器
中图分类号：TH166；TP273.5 文献标识码：A文章编号：1001-4551(2010)07-0009-06

Research and development of the control system based on MCF5235 and FPGA
JIA Hui, HE Yong
(College of Mechanical Engineering, Donghua University, Shanghai 201620, China)
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Abstract: For the insufficient system resources or slow processing speed of the hardware, the precision of the multimotor synchronous control is not accurate when the motors’ speed is high. A hardware control system based on MCF5235 and field programmable gate array(FPGA) was designed. Three closedloop control of the position, speed and current was used to achieve the position control. The task of three closedloop control was processed in different modules, the appropriation of the CPU resources was reduced and the ability of parallel data processing was improved. In order to improve the realtime property, VxWorks was used in the MCF5235. It greatly simplifies the design process and makes better use of the system resources. The hardware control system makes the calculations faster and enhances the system’s stability. The results of simulation and experiment show that the adaptive fuzzy PID controller has a good dynamic and static performance as well as quick dynamic response and small overshoot.
Key words: MCF5235; field programmable gate array(FPGA); synchronous control; multimotor; fuzzy PID controller