步进电机定位控制系统VHDL程序与仿真

zxopenyz · 发表于 2020-1-15 08:26:27

library IEEE;
use IEEE.std_logic_1164.all;
use IEEE.std_logic_arith.all;
use IEEE.std_logic_unsigned.all;

entity step_motor is
port (reset:in STD_LOGIC; --系统复位信号
   dir: in STD_LOGIC; --方向控制信号
   clk: in STD_LOGIC; --系统时钟信号
   ini: in STD_LOGIC; --初始化使能信号
   manner: in STD_LOGIC_VECTOR (1 downto 0); --激磁方式的选择开关
   angle: in INTEGER range 255 downto 0; --步进角的倍数设定输入
   baBA: out STD_LOGIC_VECTOR (3 downto 0)); --步进电机状态输出
end step_motor;

architecture stepmotor_arch of step_motor is
signal count: INTEGER range 0 to 7; --计数器
signal cntInc: INTEGER range -2 to 2; --设定累加器所需的累（加/减）计数值
signal cc : integer range 0 to 3;
signal cntIni: INTEGER range -1 to 0; --设定累加器所需的计数初值
signal angleDnCount: INTEGER range 255 downto 0;  --计算已经转过的步进角
signal angleDnCntDec: INTEGER range 2 downto 1;
begin

  process(dir, manner, angle)--, ini)
  begin
   --if ini='1' then
   cc<=conv_integer(manner);
   if dir='0' then
      case cc is
            when 1 => -- 1-相激励
               --count<=0;
               cntIni<=0;
               cntInc<=2;
               angleDnCntDec<=2;--"10";
            when 2 => -- 2-相激励
               --count<=7;
               cntIni<=-1;
               cntInc<=2;
               angleDnCntDec<=2;--"10";
            when 3 => -- 1-2相激励
               --count<=0;
               cntIni<=0;
               cntInc<=1;
               angleDnCntDec<=1;--"01";
            when 0 => --manner="00" autodetect
               if (angle rem 2) =1 then -- 2-相激励
               --count<=7;
               cntIni<=-1;
                  cntInc<=2;
                  angleDnCntDec<=2;--"10";
               else -- 1-相激励
               --count<=0;
               cntIni<=0;
                  cntInc<=2;
                  angleDnCntDec<=2;--"10";
               end if; --angle
      end case; --manner
   else -- if dir='1'
      case cc is
            when 1 => -- 1-相激励
               --count<=0;
               cntIni<=0;
               cntInc<=-2;
               angleDnCntDec<=2;--"10";
            when 2 => -- 2-相激励
               --count<=7;
               cntIni<=-1;
               cntInc<=-2;
               angleDnCntDec<=2;--"10";
            when 3 => -- 1-2相激励
               --count<=0;
               cntIni<=0;
               cntInc<=-1;
               angleDnCntDec<=1;--"01";
            when 0 => --manner="00" autodetect
               if (angle rem 2) = 1 then -- 2-相激励
                  cntIni<=-1;
                  cntInc<=-2;
                  angleDnCntDec<=2;--"10";
               else -- 1-相激励
                  cntIni<=0;
                  cntInc<=-2;
                  angleDnCntDec<=2;--"10";
               end if; --angle
      end case; --manner
   end if; -- else dir=0
   --end if; -- ini
  end process;

  counting_reset: process(reset,ini, angle, clk)
  begin
   if reset='1' then
      count<=0;
      angleDnCount<=0;
   elsif clk'event and clk='1' then
      if ini='0' then
            count<=0+cntIni;
            angleDnCount<=angle;
      else
            count <= count+cntInc;
            if angleDnCount > angleDnCntDec then
               angleDnCount <= angleDnCount-angleDnCntDec;
            else
               angleDnCount <= 0;
            end if;
      end if;
   end if;
  end process;

  baBA <="0000" when angleDnCount=0 else
      "0001" when count=0 else
      "0011" when count=1 else
      "0010" when count=2 else
      "0110" when count=3 else
      "0100" when count=4 else
      "1100" when count=5 else
      "1000" when count=6 else
      "1001";-- when count>=7;

end stepmotor_arch;

月影星痕 · 发表于 2020-1-15 13:06:57

步进电机定位控制系统VHDL程序与仿真

zxopenljx · 发表于 2023-7-18 18:34:58

步进电机定位控制系统VHDL程序与仿真

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