Multi-axis Stepper Motor Control System Based on FPGA
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摘要: 观测技术及仪器的进步推动了太阳物理的研究，步进电机是各类观测仪器精密结构调整部件中经常采用的驱动源，步进电机控制系统的性能直接影响太阳望远镜的数据精度和时间分辨率。介绍了一套怀柔太阳观测基地自主研制的多轴步进电机控制系统。该系统以现场可编程门阵列为核心控制器，利用中断处理机制及输入/输出寄存器产生多路晶体管-晶体管逻辑电平（TTL）方波信号，结合驱动器实现多轴步进电机控制；通过周期信号化简处理算法缩短电机调整时间；以霍尔器件作为位置传感器实现系统闭环控制，通过对霍尔信号的软、硬件滤波处理，提高信号识别的准确率；设计了板载存储电路，实时保存系统关键参数，大幅提高系统整体的可靠性。同时，该系统设计了丰富的输入/输出接口、通讯接口，提高系统的可集成性。目前该系统已在多台太阳望远镜中投入使用。Abstract: Observation is the main technical method of solar physics research. Stepper motor is often used as the driving source of precision structure adjustment in various observation instruments. Stepper motor control system is an important part of the electronic system of solar observation telescope. This paper introduces a multi-axis stepper motor control system independently developed by Huairou Solar Observation Base. The system uses FPGA as the core controller, uses the interrupt processing mechanism and input/output registers to generate multiple TTL square wave signals, and combines the driver to realize multi-axis stepper motor control. The Hall device is used as the position sensor to realize the closed-loop control of the system. In the design, the Hall signal is filtered to improve the signal recognition accuracy. The MFC class library is used to complete the human-computer interaction interface design, and the serial communication protocol is used to realize the information interaction between the computer and the controller. In addition, external storage circuits have been added to the basic functions to improve the overall reliability of the system.
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