为了实现机械相控阵列天线的波束扫描，采用微型直流电机驱动螺旋天线单元转动来达到预定的辐射相位，研究了一种基于单片FPGA的多轴直流电机控制系统。采用IP设计思想，直流电机的位置控制用纯硬件逻辑电路的形式(直流电机控制IP核)实现，总线通信及轨迹计算由同一芯片上的微处理器(Nios II软核)软件实现，从而容易构建多轴直流电机控制的片上系统。利用Verilog硬件描述语言，设计了一种高性能直流电机控制IP核，并进行了仿真验证。为了验证该IP核的复用性，构建了一个56轴直流电机控制的片上系统。实验结果表明，此系统可对各个直流电机实现快速精确控制，每轴的运动相互独立，并且控制参数在线可编程，控制一致性满足系统设计要求。基于这种方式构建的系统，扩展方便、可移植性高、具有较好的适用性，已在某相控阵列天线中得到了应用。

In order to achieve beam steering of mechanical phased array antenna, the brushed direct current motor(BDCM) is adopted to drive a helical antenna element to rotate to a predetermined radiation. The design and implementation of a multi-axis BDCM controller using a field programmable gate array (FPGA) is studied. Based on IP core design methodology, the flexibility of the system on a Programmable Chip(SoPC) in multiple-axis BDCM controller enables the processing of the most position servo control operations by hardware(BDCM controller IP core) and the trajectory computation and communication operations by software (Nios II microprocessor) in the same device. A high performance BDCM controller IP core described in Verilog HDL is designed, and simulation is fulfilled. The reusability of the IP core is demonstrated with the design of a 56 axis SoPC system. The experimental results show that the system can realize high precision control of the 56 axis BDCM, each axis is independent of the others, all parameters are programmable online, and consistency meets the system requirement. The built-up system based on this mode has many advantages, such as easy expansion, high portability and broad applicability. It has been applied to a phased array antenna.