步進(jìn)電機(jī)定位控制系統(tǒng)VHDL程序與仿真

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; --系統(tǒng)復(fù)位信號(hào)
dir: in STD_LOGIC; --方向控制信號(hào)
clk: in STD_LOGIC; --系統(tǒng)時(shí)鐘信號(hào)
ini: in STD_LOGIC; --初始化使能信號(hào)
manner: in STD_LOGIC_VECTOR (1 downto 0); --激磁方式的選擇開(kāi)關(guān)
angle: in INTEGER range 255 downto 0; --步進(jìn)角的倍數(shù)設(shè)定輸入
baBA: out STD_LOGIC_VECTOR (3 downto 0)); --步進(jìn)電機(jī)狀態(tài)輸出
end step_motor;
architecture stepmotor_arch of step_motor is
signal count: INTEGER range 0 to 7; --計(jì)數(shù)器
signal cntInc: INTEGER range -2 to 2; --設(shè)定累加器所需的累（加/減）計(jì)數(shù)值
signal cc : integer range 0 to 3;
signal cntIni: INTEGER range -1 to 0; --設(shè)定累加器所需的計(jì)數(shù)初值
signal angleDnCount: INTEGER range 255 downto 0; --計(jì)算已經(jīng)轉(zhuǎn)過(guò)的步進(jìn)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-?相激勵(lì)
--count=0;
cntIni=0;
cntInc=2;
angleDnCntDec=2;--10;
when 2 => -- 2-?相激勵(lì)
--count=7;
cntIni=-1;
cntInc=2;
angleDnCntDec=2;--10;
when 3 => -- 1-2?相激勵(lì)
--count=0;
cntIni=0;
cntInc=1;
angleDnCntDec=1;--01;
when 0 => --manner=00 autodetect
if (angle rem 2) =1 then -- 2-?相激勵(lì)
--count=7;
cntIni=-1;
cntInc=2;
angleDnCntDec=2;--10;
else -- 1-?相激勵(lì)
--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-?相激勵(lì)
--count=0;
cntIni=0;
cntInc=-2;
angleDnCntDec=2;--10;
when 2 => -- 2-?相激勵(lì)
--count=7;
cntIni=-1;
cntInc=-2;
angleDnCntDec=2;--10;
when 3 => -- 1-2?相激勵(lì)
--count=0;
cntIni=0;
cntInc=-1;
angleDnCntDec=1;--01;
when 0 => --manner=00 autodetect
if (angle rem 2) = 1 then -- 2-?相激勵(lì)
cntIni=-1;
cntInc=-2;
angleDnCntDec=2;--10;
else -- 1-?相激勵(lì)
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;