Dissertation > Excellent graduate degree dissertation topics show

Research and Realization of Velocity Measurement Algorithm for Servo Motor Based on FPGA

Author: WangShu
Tutor: DingHan
School: Shanghai Jiaotong University
Course: Mechanical and Electronic Engineering
Keywords: Incremental Photoelectric Encoder Velocity Measure Dynamic Fitting Approximate Least Square Estimation FPGA Verilog HDL
CLC: TM383.4
Type: Master's thesis
Year: 2012
Downloads: 264
Quote: 3
Read: Download Dissertation

Abstract


In modern high accuracy servo control system, such as CNC machine tool and wire-bonding machine, incremental photoelectric encoders are widely used as position sensors and combined with corresponding time information to get accurate velocity measurement of servo motor. The results will be provided to the closed-loop servo control system as velocity feedback. However, in practical applications, only low resolution encoders could be used for the consideration of cost. Besides, due to manufacturing error and disturb introduced by signal trasmmission and measurement, the calculated velocity always contains inconvenient error. Thus, a proper algorithm is needed to reduce the error and improve the overall performance of control system.At first, this paper analyzes the main problem in velocity measurement from encoder signal which is how to both improve the accuracy and keep the real time effect at the same time, based on theoretical research and off-line experiments of serval basic methods. After comparing some advanced methods introduced by scholars, the Least Square Estimation method is adopted. Considering the practical situation in velocity measurement, the Dynamic Fitting Points Selection method is proposed for Least Square Estimation. Its good performance under various situations is shown by off-line experiments. In order to reduce the difficulty and hardware consumption of realization in FPGA, an Approximate Least Square Estimation method is designed. The off-line experiments show the error introdued is negligible compared with standard method. Thus, it could be used in practical applications.Then, the proposed algorithm for velocity measurement is realized in FPGA by using Verilog HDL. The program contains a set of self-designed float point calculator. Simulation results show that the algorithm runs very fast and the hardware consumption is also acceptable in FPGA.At last, on-line experiments have been done in the velocity measuring platform. The results show velocity measurement accuracy from low resolution encoder of 10,000 pulses per round by using proposed algorithm is very close to that from high resolution encoder of 160,000 pulses per round. Thus the expected goal has been reached, which also means the whole project is successful, from theoretical research to realization.

Related Dissertations

  1. Research on Electromagnetic Acoustic Transducer Detection System Based on FPGA,TH878.2
  2. Study on Drive and Control System of Five-Phase PMSM Based on FPGA,TM341
  3. Development of LXI Arbitrary Waveform Generator,TM935
  4. Design of Digital Predistorter for RF Power Amplifier Based on FPGA,TN722.75
  5. Synchronization and Channel Estimation Algorithm in Bursted OFDM System and Its Implementation on FPGA,TN919.3
  6. Performance Analysis of Anti-Multipath Capability in DSSS System and Study on the Compensation Methods,TN914.42
  7. Optimizing and Realising Research on Vedio Compression in TV Guidance System,TN919.81
  8. Research and Hardware Simulation of Multiuser Spread Spectrum Code Acquisition Based on FPGA,TN914.42
  9. Research on Basic Algorithms of Digital Image Processing and Implementation with FPGA,TP391.41
  10. Research of High Speed Image Pre-processing System Based on FPGA,TP391.41
  11. Design of High-Speed Digital Image Acquisition and Interface Based on FPGA,TP274.2
  12. Development of Inductance Sensor Data Acquisition System Based on FPGA,TP274.2
  13. Development of Serial Bus Analyzer Based on Nios,TP274
  14. Development of PMC High-speed Data Transmission Board Design Based on FPGA-RocketIO_X,TP274.2
  15. Development of Pxibus High Performance Digital I/O Module,TP274
  16. Development of LXI Counter,TP274
  17. A High-Speed and Real-Time Data Acquisition System Based on FPGA,TP274.2
  18. Design of GPS Information Receiving System Based on Nios Ⅱ,TN967.1
  19. Temperature and pressure explosives temperature field memory test technology,TQ560.7
  20. Erbium-doped fiber amplifier pump laser drive source research applications,TN248
  21. Remote FPGA system design and implementation of security upgrades,TP309

CLC: > Industrial Technology > Electrotechnical > Motor > Micro-motor > Control of micro motor > Servo motor
© 2012 www.DissertationTopic.Net  Mobile