摘  要：在分析舵机控制基本原理的基础上，确定了舵机控制策略。针对超小型全数字四轴舵机控制系统中的关键技术进行了研究，提出了一种以单片FPGA为控制核心、以SA305为功率驱动元件的硬件实现方案，给出系统的总体架构框图。重点阐述了基于FPGA的PI调节器实现方法、基于FPGA的多路串行AD转换器读写控制、E2PROM的接口控制实现方案和电流截止保护的实现方法等关键技术。试验表明，该舵机控制系统具有良好的控制性能。
关键词：舵机；控制系统；FPGA

Abstract: In this paper, determined a rudder control strategy in the analysis of the basic principle of rudder control. It presented a hardware implementation according to the control core of single FPGA and power drive components of SA305, and gave the overall system architecture block diagram after studying the key technologies of axis for ultra-compact digital rudder control system. It focused on the implementations of PI controller, multi-channel AD converter serial read and write control based on FPGA, E2PROM interface control and the cut-off protection of current. The results show that this rudder control system has good control performance.
Key words: rudder；control system；FPGA