摘要：传统的冲击旋转钻由于体积重量大、可靠性差等问题，难于满足太空环境钻采取样的工作需求。而基于多台电机协同工作的全电驱动式冲击旋转钻具有高功重比、高可靠性和高效率的优点，成为航天钻采取样的首选。根据全电驱动式冲击旋转钻多电机协同运行的工作原理，提出了一种基于DSP和FPGA架构的多电机驱动控制平台。根据DSP和FPGA各自的结构特点，以及驱动控制的功能需求，采用模块化设计方法，对DSP和FPGA各自所需承担的功能进行划分研究。其中，DSP主要完成多电机协调控制算法以及无刷直流电机的闭环控制算法，FPGA主要完成生成无刷直流电机PWM驱动信号与转速测量、生成步进电机驱动信号。仿真和实验结果表明，该驱动控制平台能够可靠高效地完成多电机的协同控制，实现航天全电驱动式冲击旋转钻的钻进和采样任务功能。
关键词：多电机协同控制；无刷直流电机；步进电机；冲击旋转钻

Abstract: Traditional percussiverotary drill couldnt work in the space environment because of the large volume: heavy weight and low reliability. While all electric percussiverotary drill base on multi motors coordination control had advantage on high power to weight ratio; reliability and efficiency, and it became the first choice on astronautic drilling. A drive control platform based on digital signal processor(DSP) and field programmable gate array(FPGA) was designed according to the operating principle of multi motors coordination work of all electric percussiverotary drill. Programming design of DSP and functional design of FPGA were accomplished by modularized method to meet requirement of drive and control. DSP was used to perform the functions such as BLDCM computing control algorithm and multi motors coordination control algorithm. FPGA was used to achieve the functions such as PWM generation; speed acquisition and Stepping Motor drive signal. The simulation and experiment results verified the validitied of the control platform to accomplish the astronautic drilling.
Key words: multi motor coordination control；brushless direct current motor；stepping motor；percussiverotary drill