摘要无刷电机是指无电刷和换向器（或集电环）的电机，与传统有刷直流电机 相比，无刷直流电机通过电子换向部分取代机械换向装置，本身具有直流电机 良好的调速性能、响应快速、转矩大、运行效率高等优点，同时拥有交流电机 结构简单、运行稳定、维护方便等优点，因此在工业控制系统应用广泛，特别 是机器人领域。但随着航空航天等领域技术的发展，人们对无刷电机的稳定性 和控制精度以及控制芯片提出了更高的要求。传统的模拟控制电路体积大，集 成度不高，控制精度不高，控制参数固定不灵活，所以需要设计一种性能更加 优异的控制系统来满足无刷直流电机在工业中的需求。83526

目前对无刷直流电机的控制主要由单片机和 DSP 实现，但采用单片机、 DSP 等数字处理器，外围电路复杂，对系统的可靠性和稳定性有较大影响,以软 件方式达到控制往往速度慢、可靠性低，控制性能很难实现预期的效果。论文 设计了一种无刷直流电机数字控制系统，采用可编程逻辑门阵列 FPGA 作为控 制芯片，通过 FPGA 实现数 字外围电路的设计实 现对 PWM 的控制。使用 verilog HDL 硬件描述语言实现 PI 调节模块、霍尔测速模块 PWM 调制以及换 相模块等功能，并在 Modelsim 下对系统进行仿真验证。

基于 FPGA 的无刷电机控制系统的设计，符合电机驱动控制系统数字化、 模块化发展的趋势，提供了更灵活，性价比更高的设计方案。

毕业论文关键词：可编程逻辑门阵列；无刷直流电机；驱动控制系统；双闭环

ABSTRACT Brushless motor is that motor no brush and commutator (or collector ring)。 Compared with the traditional have a brush dc motor , brushless dc motor replace the mechanical reversing device by the electronic commutation part。 It  has  the advantages of dc motor such as dc motor performance of speed adjustment, fast response, large torque, high efficiency。 At the same time, it has the advantages of ac motor has simple structure, stable running, convenient maintenance, etc。 So  it  is widely used in industrial control system, especially in robotics。 With the development of the fields of aeronautics and astronautics technology, stability and control accuracy of brushless motor and control chip is put forward higher request。 Traditional analog control circuit has big volume , low integration。 The control accuracy of the conventional control algorithm is not high, the control parameters fixed is not flexible, so we need to design a performance with more excellent control system to meet the demand  of brushless  dc motor in the   industrial。

The current control of the brushless dc motor is mainly composed of MCU and DSP。 However, the peripheral circuit of MCU, DSP and other digital processor is complex ,and the use of them has a great influence on the reliability and stability  in the system。 To achieve control by the software way often have disadvantages such as low speed, low reliability, control performance is difficult to achieve, etc。 In the thesis we have designed a kind of digital brushless dc motor control system, which adopting programmable logic gate array FPGA as the control chip, and designing digital peripheral circuit by FPGA to control PWM。 We use verilog HDL hardware description language to realize the PI regulating module, hall speed measuring module PWM modulation and phase module, and other functions, and  we  to  simulation system  under  the Modelsim。

The design of brushless motor control system is based on the FPGA, in line with the development trend of the motor drive control system digitalization  and  the modular  。It provides  a more  flexible,   more  cost-effective  design。