基于FPGA的嵌入式步进电机恒流控制系统设计与实现

长期在轨运行的航天器需具备补加推进剂功能，补加过程通过步进电机驱动浮动连接机构实现。在保证航天器稳定运行在轨补加前提下，从简化软件设计角度出发，本文提出步进电机相电流自适应闭环控制方案,即通过比较器完成电流硬件比较，由FPGA根据比较结果对步进电机相电流进行恒流斩波，以控制步进电机相电流误差不大于10%，从而保证浮动连接机构平稳运行。为验证步进电机相电流控制效果，通过仿真和实验的方法进行测试，测试结果表明，基于FPGA恒流斩波的闭环控制方式可以有效地将步进电机相电流误差限定在10%范围内。

Design and Realization of Embedded Constant Current Control System for Stepper Motor Based on FPGA

The function of replenishing propellant is needed on the in-orbit long-running spacecraft, and the replenishment process is realized by a floating connection mechanism which is driven by a stepper motor. On the premise of ensuring the stable in-orbit refueling of the spacecraft, considering simplifying the software design, the self-adaption closed-loop control scheme of stepper motor phase current is proposed, that is, based on hardware comparison result which is completed by a comparator, constant current chopping on the stepper motor phase current is performed by FPGA to control the error of the stepper motor phase current not to be greater than 10%, so as to ensure the smooth operation of the floating connection mechanism. In order to verify the control effect of the stepper motor phase current, the simulation and experiment methods are used to test. The test results show that the closed-loop control method based on constant current chopping performed by FPGA can effectively define the error of the stepper motor phase current within 10%.