摘  要：针对无刷直流电机的运行特点，建立了以FPGA芯片为核心的相互独立的四轴无刷直流电机舵机伺服控制系统。利用VHDL语言设计了各功能硬件模块和NIOS软核处理器，并用C语言编程在软核中实现了针对无刷直流电机的带前馈的电流、速度和位置三闭环软件控制算法。整个控制系统体积小、可靠性高、灵活性强，实现了全数字控制。通过实验验证了基于FPGA芯片的无刷直流电机舵机全数字化控制器的先进性。
关键词： FPGA；无刷直流电机；伺服系统；前馈

Abstract: According to the operation characteristic of BLDCM,an independent 4 axes position servo system actuator of brushless DC motor based on FPGA hardcore was presented in this paper.Designed all function modules and NIOS soft CPU by VHDL,and the BLDCM control algorithm with feedforward,current,speed and position three-closed loops by C.The volume of controller is small，and it shows high reliability and flexibility,also a full-digital control can be procured.The experiment results show the advantage of BLDCM actuator FPGA-based full-digital controller.
Key Words: FPGA;Brushless DC motor;Servo system;Feed-forward