摘要：目前国内的主流控制系统普遍存在单机运行性能好，多机运行控制响应时间间隔长的问题。然而在有些特殊设备，比如四轴无人飞行器上面，如果控制响应时间过长甚至可能造成坠机的风险，这样就可能会对一些高精度的设备造成较大的损失。如今四轴无人飞行器在国内外，不论是军用还是民用都是热门设备。本文介绍了基于FPGA的并行伺服控制系统设计， 给出了系统的硬件设计电路图、FPGA内部逻辑模块框图和各个功能模块的逻辑时序图，使用了增量式PI算法，使系统的同步性能得到了较大改善，该控制器资源使用合理，控制效果良好，可以应用于各种多机运行的场合。
关键词：无刷直流电机， PI控制， FPGA
Abstract: For the moment ,the problem of good performance in standalone machine but long control and response interval time in multimachines operation popularly existed in the mainstream control System in domestic. However, to some special equipment such as fouraxis unmanned aerial vehicles, too long control and response time would even cause air crash, which might create huge losses to those high precision equipments. Now, fouraxis unmanned aerial vehicle is the popular equipment at abroad both in military and civilian use. This article described the design of parallel serve control system based on FPGA, and showed the circuit diagram of systems hardware design, the block diagram of FPGAs internal logic module and the logical sequence diagram of its every functional model, used the incremental PI arithmetic to greatly improve synchronization performance of the system. Its reasonable use of controller resource and good controlling effects make it possible to be applied to the occasion of multimachine operation.
Key words: BLDC; PI control; FPGA