1、 xx 大学学士学位论文 - I - 基于 Nios II 的 PWM 直流电机控制系统设计 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 Avalon外设 技术，
2、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作为系统控
3、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 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
4、论文 - II - Based on the Nios II PWM DC Motor Control System Design Abstract Along with the development of electronic technology, microprocessor technology, signal detection and processing technology, automatic control theory and computer application technology and permanent magnet materials technolog
5、y, people have made 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 cont
6、rol requirements, 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
7、to control the object, 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 firs
8、t, this thesis introduces 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 sys
9、tem with embedded 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
10、 some circuit which 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
11、. Based on the above 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 integration, 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；
