CN108469778A - A kind of SERVO CONTROL MBD development platforms - Google Patents

A kind of SERVO CONTROL MBD development platforms Download PDF

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Publication number
CN108469778A
CN108469778A CN201710990814.8A CN201710990814A CN108469778A CN 108469778 A CN108469778 A CN 108469778A CN 201710990814 A CN201710990814 A CN 201710990814A CN 108469778 A CN108469778 A CN 108469778A
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China
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dsp
control
servo
development
motor
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张文东
赵瑞永
黄晓
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Beijing Ling Si Chuang Qi Technology Co Ltd
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Beijing Ling Si Chuang Qi Technology Co Ltd
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/04Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/05Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
    • G05B19/054Input/output
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/10Plc systems
    • G05B2219/11Plc I-O input output
    • G05B2219/1103Special, intelligent I-O processor, also plc can only access via processor

Abstract

The present invention relates to technical field of software development, provide a kind of SERVO CONTROL MBD development platforms, and the SERVO CONTROL MBD development platforms use host object machine structure, including:Real-time simulator, servo motor and research and development type driver;The real-time simulator passes through motor control card, pwm signal of the output with the dead time function;Then by three-phase inverter bridge circuit on research and development type driver, the rotation of servo motor is driven;Increment code wheel signal is acquired simultaneously, forms close loop control circuit;By the load simulation motor to dragging, apply opposing torque load, to verify the carry load work characteristic of AC servo motor.

Description

A kind of SERVO CONTROL MBD development platforms
Technical field
The present invention relates to field of software development more particularly to a kind of SERVO CONTROL MBD development platforms.
Background technology
Existing servo controller exploitation, main way are to be based on DSP development boards, and user directly by writing C generations manually Code carries out servo controller Software for Design.As shown in Figure 1.
SERVO CONTROL is developed, other than the hand-written exploitation of the DSP code of mainstream, there are also based on embedded meter in recent years The development scheme (attachment 2) of calculation machine+DSP control cards.This more direct DSP control modes of mode increase high-performance CPU card ginseng With servo control algorithm operation, whole platform operational capability is improved.As shown in Figure 2.
The motor servo control system of existing higher-end, generally use DSP are essentially all as core processor Under CC2000, CCStudio (the integrated debugging development environment of DSP) environment, directly realized by way of hand-written C language code. Wherein some user can build entire servo control before specifically writing control routine under Matlab/Simulink environment The mathematic simulated mode of system processed after generally confirming that the control effect of system is met the requirements, then actually enters written in code rank Section.Regardless of be it is direct carry out C code exploitation, or first mathematical simulation carries out C code exploitation again, and it is low all to there is development efficiency, The problem of system debug complexity.Therefore, the RTW tools based on Matlab, the controller that will directly be built under Simulink environment Model, automatic compiling generate C language code, can greatly promote the development efficiency of servo-control system.
DSP code automatic generation method based on Simulink models has had begun part and has explored at home, but face Face two Practical Project problems.On the one hand, system configuration is more complicated, although the RTW tools using Matlab can be direct DSP code is generated, but without commercialized whole-process management software, configured in one piece process very tests the experience of developer, Debugging is got up also comparatively laborious;On the other hand, the DSP code of generation is of low quality, readable bad, directly affects final Using effect.Therefore, it is based on existing empirical method, develops the whole-process management software that a DSP code automatically generates, and Optimize real time workshop mechanism so that code quality could make this advanced development scheme real close to hand-written code Applied in research practice.
Invention content
In being developed present invention mainly solves existing servo controller, the Digital Simulation based on Matlab Simulink and base In C language carry out DSP code develop two stages can not effectively be connected the problem of.It proposes to use SERVO CONTROL MBD development platforms And its code automatic generation method, transformation SERVO CONTROL integrally develop flow, accelerate the development progress of servo controller, raising is watched Take the whole scientific research level of control field.
In order to achieve the above object, a kind of SERVO CONTROL MBD development platforms provided by the invention, using host-target machine Structure, including:Real-time simulator, servo motor and research and development type driver.
The real-time simulator passes through motor control card, pwm signal of the output with the dead time function;Then by grinding Three-phase inverter bridge circuit on hair style driver drives the rotation of servo motor;Increment code wheel signal is acquired simultaneously, forms closed loop Control loop;By the load simulation motor to dragging, apply opposing torque load, to verify the carry load work of AC servo motor Characteristic.
Preferably, the real-time simulator uses Links-Box real-time simulators.
Preferably, PMC interfaces are used between the motor control card such as Figure 12 and computer, and support plate is adapted to by replacement In computer applied to the various buses of CPIC, PCI;The framework that dual port RAM+DSP is used inside board, realizes computer CPU With the two-way communication between motor control card DSP;Meanwhile the Dead-Band moulds polarity in the block carried by configuring DSP on pieces Control register realizes the setting of dead time;The all functional modules configuration of last motor control card is integrated into Matlab In the module librarys Simulink, the Integrated Development of control algolithm and Hardware I/O is realized.
Preferably, the research and development type driver increases external PWM signal control model;Under this pattern, the electric current of driver Ring control realizes that external equipment will substitute the DSP of internal drive, output pwm signal direct controlling and driving device in outside IGBT inverter circuits, the also synchronous realization externally output of busbar voltage, phase current and code device signal;Meanwhile being the external PWM of reply Risk caused by control model increases PWM pile defections, dead-time detection function, realizes the self-protection of driver.
Preferably, the Simulink motor control algorithms of User Exploitation can further complete DSP code and automatically generate, mistake Journey includes the following steps:
1) model preparation:In Simulink motor control algorithms models, increase DSP personality modnies and interface resource mould The interface resources interface such as AIO, PWM, DIO of Simulink models and DSP is carried out connection by block.
2) environment configurations:Under Matlab environment, start from the DSP code automatic generating software DSPAutocoder ground, Complete the centralized configuration of DSP code environment, including the configuration of IDE environment, dsp software development environment, DSP peripheral resources, solver Selection, code building tlc stencil-chosens etc..
3) automatic compiling:After the completion of environment configurations, a key is clicked real time workshop and is pressed in DSP Autocoder softwares Button realizes automatically generating for DSP target C language source codes.
4) code programming:It is identical as normal DSP programmings mode, start CCS softwares in exploitation host side, passes through emulator The code programming of DSP is completed from the JTAG programming mouths of motor control card.
Advantageous effect:
1) motor servo control card in the present invention is integrated with the outputs of the PWM with the dead time, DC bus-bar voltage is adopted Collection, U phases and W phase currents acquire, driver enables and the functions such as malfunction monitoring.The card, which is directly inserted into, simultaneously has PCI and connects In the real-time simulator of mouth, the rapid control prototyping of servo-drive system is realized.
2) research and development type driver is provided, which has opened business and driven on the basis of business type servo-driver The function of being controlled outside electric current loop lacking in dynamic device, while providing enough driver self-protection designs.
3) the motor servo control card being directed in the present invention, develops based on the DSP under Matlab/Simulink environment certainly Dynamic code building template, the template are integrated with all hardware driving interfaces of servo controlling card, SVPWM algoritic modules, motor and turn The functions such as speed processing and fault protection logic.Meanwhile passing through the configuration optimization means of series so that the DSP code automatically generated Reach Product-level code demand, compared with hand-written code, code increment is less than 20%, greatly promotes the exploitation of servo-control system Efficiency.
Description of the drawings
Serve Motor Control block diagram of Fig. 1 prior arts based on DSP.
Serve Motor Control block diagram of Fig. 2 prior arts based on CPCI embedded computers.
Fig. 3 SERVO CONTROL MBD development system frameworks
Fig. 4 SERVO CONTROL MBD development platforms constitute figure.
Fig. 5 servo motor driver circuit schematic diagrams.
Fig. 6 SERVO CONTROL MBD complete job flow charts.
SERVO CONTROL offline digital simulation illustratons of model of the Fig. 7 based on Matlab/Simulink.
Fig. 8 rapid control prototyping RCP structure charts.
The M language codes of Fig. 9 emulation and the DSP product code comparison diagrams automatically generated.
Figure 10 HIL test structure figures.
Figure 11 servo-control system integration testing structure charts.
Figure 12 motor control card logical topology charts.
Figure 13 research and development type driver logic topological diagrams.
Specific implementation mode
For make present invention solves the technical problem that, the technical solution that uses and the technique effect that reaches it is clearer, below The present invention is described in further detail in conjunction with the accompanying drawings and embodiments.It is understood that specific implementation described herein Example is only used for explaining the present invention rather than limitation of the invention.It also should be noted that for ease of description, in attached drawing Only the parts related to the present invention are shown rather than full content.
General frame
SERVO CONTROL MBD development platforms use host-target machine structure, the LINKS-BOX real-time simulations based on pci bus Platform (target machine), I/O tenabilities are strong, and convenient for extension.LINKS-BOX is selected in key task field by stringent verification VxWorks, as real time execution control, management operating system.
LINKS-BOX real-time simulators are believed by dedicated motor control card, PWM of the output with the dead time function Number;Then by three-phase inverter bridge circuit on dedicated driver, the rotation of PMSM motors is driven;Acquire increment code wheel simultaneously Signal forms close loop control circuit.In addition, by the load simulation motor to dragging, apply opposing torque load, to verify exchange The carry load work characteristic of servo motor.System architecture is as shown in Figure 3.
A) main building block
I. host is developed
Exploitation host is a high-performance Windows PC, and user completes Simulink modellings in exploitation host side, Emulation experiment process management, the work such as experimental data post-processing.Specific targets are as follows:
■ processing capacities:Intel I7 or more, dominant frequency are not less than 3.6GHz, no less than 4 cores;
■ hard disks:Memory capacity is not less than 1TB, SATA interface;
■ memories:Memory capacity is not less than 8G DDR4SDRAM;
■ operating systems:64 bit manipulation systems of Windows;
Ii. real-time simulator
This system provides 1 real-time simulator, VxWorks real time operating system is run, as semi-physical emulation platform Core, by the real-time resolving for completing control system model, and the I/O communication with external equipment in kind.Concrete configuration is as follows:
Iii.Links-RT real-time simulation Soft Rolls
LINKS-RT real-time simulation software packages are the overall operation of platform, provide a series of software tool collection, specific as follows:
Iv. servo motor experimental bench
Servo motor experimental bench by servo drive system and the accessories such as load simulation system and shaft coupling, installation pedestal, User can be supported to be deep into servo-control system electric current loop bottom control research.Concrete configuration is as follows:
B) experiment process
Using Matlab Simulink modeling environment combination Links-RT Simulating software packages, user can according to 6 steps Realize that AC servo experiment porch models the overall process to rapid prototype development from Digital Simulation.
Mathematical simulation under i.Simulink.First, the founding mathematical models under Simulink environment, by Mathematical simulation under Simulink, preliminary identification model and algorithm.
Ii. I/O module is added.I/O hardware module is added in control algolithm model, and completes hardware parameter configuration.
Iii. real time workshop.After user completes the design of RCP Controlling models, you can Code Generator is called, it will Simulink model conversions are C code, and are compiled as executable program.
Iv. Simulation Engineering is established.In RT-Sim management environment, according to software guide, Simulation Engineering, setting emulation mesh are established Mark machine attribute, configuration monitoring and preservation variable, prepare emulation.
V. rapid prototype development.Under RT-Sim environment, click【Start】, emulation starts, and code is automatically downloaded in real time Emulator, and start real time execution, it is interacted by I/O hardware with real equipment.The RT-Sim of host computer is supervised by Ethernet Depending on real-time simulator state, and support the work(such as servo control algorithm model online modification parameter, start-up and shut-down control, real-time data memory Energy.
Data Post.After emulation, RT-Sim carry out real-time storage data uploads, format conversion (support txt, The formats such as xls, mat), data readback etc., and can simply be counted with the tools Seamless integration- such as Matlab, Excel According to processing.
Embodiment 1
Fig. 4 is the composition schematic diagram of SERVO CONTROL MBD development platforms provided in an embodiment of the present invention.As shown in figure 4, this hair The SERVO CONTROL MBD development platforms that bright embodiment provides, including:Real-time simulator, servo motor and research and development type servo-driver.
Research and development type driver is directly accessed in 220V AC networks in Fig. 4, by " cross-straight-intersection " circuit realize rectification and Inversion function.The inversion of stream is delivered for direct current in the present embodiment using three-phase bridge circuit, sees Fig. 5.For three-phase Six IGBT of bridge arm carry out PWM controls respectively, and as platform is opened to the SERVO CONTROL interface come.
In the feedback signal of servo-drive system, include encoder feedback motor corner and magnetic pole the positioning letter of servo motor Number, internal drive is serially connected in the Hall sensor current signal in U phases and W phase electric wires, the direct current after driver friendship-straight rectification Bus voltage signal and driver malfunction alarm signal etc..
(1) real-time simulator
In the present embodiment, real-time simulator uses Links-Box real-time simulators, and Links-Box real-time simulators are one The HWIL simulation equipment of money miniaturization, powerful, rich interface.Core status, energy are in servo MBD development platforms Enough real-time analog simulations for being needed flexibly to realize servo controller, driver and motor according to development.Laboratory's ring can be met It is used under border, can also apply to the adverse circumstances such as live wide temperature, vibrations.Its Typical Disposition is as follows:
(2) servo motor
In the present embodiment, servo motor can be entity motor or digital motor.Motor is suitable for used in entity motor Photoelectricity holder, weapon tracking behaviour take aim at, the various fields such as electric steering engine, robot, electric vehicle, such as exchange of various power grades forever Magnetic-synchro motor (PMSM), AC induction motor, direct current torque motor, sine wave drive torque motor (low speed high torque PMSM), permanent magnet DC motor and switched reluctance machines etc., including three phase electric machine, five phases, multiphase specific type of electric machine etc..Number Word motor is one group of high-precision motor Mathematic Model Library, can be executed on FPGA, and the HIL of servo controller is used for (hardware-in-the-loop) it tests.First, the PWM drive signal of acquisition controller output;Then, it is run on FPGA Certain particular motor mathematical model, and by the electric current of motor model, electrical angle etc. pass through DA, CDR/CDS reverse phase change;Most Afterwards, FPGA output signals are improved into the feedback input signal required by real controllers.Digital motor can be used for rapid prototyping The RCP verifications (main access control algorithm and data-interface) of controller, it is also possible to which the HIL tests of the practical controller in family (can test Demonstrate,prove the motor control performance of real controllers).By the access of digital motor, control can be completed before no actual controlled device Device design and assessment processed.Control system is avoided simultaneously before not improving, is powered caused by control is improper to loop of power circuit Hardware damage, to improve the efficiency of system development or exploitation.
Due in recent years with the fast development of the industries such as wind-powered electricity generation, electric vehicle, high-precision numerical control lathe, to exchanging forever The high-precision control demand of magnetic-synchro motor (PMSM) increasingly increases.Fig. 2 is AC permanent magnet synchronous motor drive control schematic diagram, As shown in figure 5, being to use means of space vector representation to the typical method of PMSM controls, need inverse by pwm signal control three-phase bridge Become the three-phase alternating current of circuit evolving driving motor.In three-phase inverter bridge circuit, key problem be upper and lower bridge arm (such as The upper and lower bridge arm for the U phase currents that PWM1 and PWM4 are controlled respectively) it cannot simultaneously turn on, this is equivalent to power positive cathode and leads directly to, meeting Lead to the damage of IGBT power tubes.Therefore, during PWM is controlled, it is necessary to increase by one section of dead time, to avoid such case Occur.
In engineering practice, the dead band time setting of PWM controls is to rely on the output of DSP embedded control panel.But In the development and application of RCP (rapid control prototyping), DSP embedded control panel can not be directly used, because of common DSP controls Plate does not support the core bus such as PCI/CPCI/PXI, can not be inserted into real-time simulator and use.And PWM is supported on commercial market The goods-shelf type PCI/CPCI/PXI interface boards of output, do not support PWM the dead time functions.So in the present embodiment, grinding The servo motor special control card based on pci bus has been made, by onboard dsp chip, can directly have been exported with dead zone The pwm control signal of time.By the way that servo motor special control card is inserted directly into the real-time simulator with pci bus slot In, meet the development and application demand of servo motor RCP (rapid control prototyping).
(3) research and development type servo-driver
It is directed to the commercial style servo-driver of PMSM at present, usually only supports 3 kinds of control models:Position control, speed control System, Torque Control, it is sufficient to meet the integrated application demand of servo-drive system.But it in servo-controlled research and development field, needs to be deep into The current control of the bottom is come this requires the IGBT control terminals of the bottom can be opened to by servo-driver.
In the present embodiment such as Figure 13, on the basis of the function of commercial servo-driver, for opening for servo-control system Hair demand has developed research and development type servo-driver, is capable of providing 5 kinds of control models:Position control, speed control, torque control System, voltage control (Ud, Uq), the PWM controls of IGBT.The pwm pattern of additional increased voltage control (Ud, Uq) and IGBT The current loop control permission of the bottom is opened to user.When controlling (Ud, Uq) using voltage, servo-controlled position Ring, speed ring and electric current loop algorithm realize that driver receives Ud at this time in outside, and the control signal of Uq is completed last SVPWM waveforms generate, and this mode had both realized the complete opening of control algolithm, and also ensured being perfectly safe for driver. Under the pwm pattern of IGBT, servo-controlled position ring, speed ring and electric current loop algorithm and SVPWM waveform generators are all It is realized in outside, driver directly receives the pwm control signal of IGBT at this time, and this mode has certain risk, but In system structure with engineering is practical is consistent, the result confidence level higher of emulation experiment.
SERVO CONTROL MBD (Model Based Design) development platform is not only a servo controller development tool, More importantly it embodies the new thought based on modelling, and provides a whole set of work with engineering practical value Has chain.This servo-control system development mode based on model, in the SERVO CONTROL product of Japan and American-European enterprise Start gradually to be applied, domestic at present to be still in the concept stage of popularization, this product is up to domestically leading water after succeeding in developing It is flat.Fig. 6 describes the complete job flow of SERVO CONTROL MBD development platforms, specifically includes:
Step 1, system designs:Using mathematics library tool, carries out the design of control program and carry out off-line simulation.
In Control System Design early stage, based on figures such as Matlab/Simulink (being produced by Mathwork companies of the U.S.) Change modeling tool to carry out the design of control program and carry out off-line simulation, such as Fig. 7.Pass through this CAD side Formula can intuitively obtain system design effect, it may be convenient to realize the comparison of different designs scheme, while avoid literary traditional word The ambiguity of explanation and illustrative mistake.
Step 2, rapid control prototyping RCP:It, will using the RTW automatic Code Generations based on Matlab/Simulink The controller model simulations grade embedded code of Digital Simulation early period, the code can directly be deployed to real-time simulator Middle operation, such as Fig. 8.At this point, real-time simulator realizes and true DSP SERVO CONTROLs from control function and physical communication interface The seamless replacement of device.
By modern Design, after control system conceptual design, without spending great patience as before again It waits for software engineer to carry out manual programming, then code is integrated in hardware circuit by Electronics Engineer, but utilize and calculate Control program block diagram is converted to code automatically and is automatically downloaded in hardware development platform by machine design aids, to quickly It realizes the prototype of control system, and includes that various I/O, software and hardware interrupts of possible configuration in real system etc. are real-time Characteristic.Later, so that it may to carry out various experiments using computer-aided experiment test and management tool software, to examine control program To the control effect of practical object, and control parameter is changed at any time, until obtaining satisfied result.Even algorithm model Sizable modification is needed, from the time for also only needing a few minutes for being modified to the test to prototype next time, and this few minutes Time be only mouse clicking operation and waiting time.Thus before finally realizing control program, it is just right The result being likely to be obtained has comparable assurance, avoids the excessive wasting of resources and time loss.This rapid control prototyping Design method, using very universal in the complex control device design in the fields such as Aeronautics and Astronautics, weapons, ship, automobile.
Step 3, product code is realized:The generation that control of product C code is carried out using automatic Code Generation, so as to fast Speed completes the exploitation of control of product device.
After the exploitation for completing rapid control prototyping (RCP), the RTW automatic codes based on Matlab/Simulink are utilized The controller model of Digital Simulation is automatically generated Product-level DSP code by Core Generator again.The Product-level code phase of controller The difference is that in the execution efficiency of code and the hardware platform difference of deployment, figure functionally unanimously is shown in for emulation grade code 9.The emulation grade code in RCP stages is generally deployed in all-purpose computer, and by powerful X86 or PPC processors, bottom can be transported Row real time operating system supports the assistant adjustments functions such as online tune ginseng, data record.In the Product-level generation of product implementation phase Code, eliminate assistant adjustment code, and be not required real time operating system support, can directly naked race in dsp, the body of code Measure that smaller, the requirement to hardware be lower, execution efficiency higher.Similar Product-level Code automatic build technology is applied high-end It is not rarely seen in controller exploitation, such as (Electronic Control Unit, electronic control are single for German Bosch's automobile ECU Member), the PLC controller of the EMU brake controller of French Alstom, Germany Bei Jialai, the winged control of French Rafale aircraft Computer etc..
Step 4, hardware is in loop-around test HIL:By HIL in virtual environment to servo controller material object newly developed into Row test.
If Figure 10 largely tests servo controller material object newly developed in virtual environment, without really driving Dynamic circuit and motor are in kind.This test system real time is strong and very safe, even if overstepping the extreme limit condition in test It will not cause any damage.In addition, whenever, as long as needing the mistake of playback controller.Wherein, hardware is in circuit The advantage of emulation is apparent:It can be in exploitation early stage with regard to the quality of raising product.One famous Japanese vehicular manufacturer Once the effect of Hardware-in-the-loop simu- lation was spoken highly of, they say:Hardware can be found that the controller error of 90 ﹪ in loop-around test, And almost all of mistake can be found before calibration.
RCP and HIL is a pair of combination to corroborate each other, makes the driver in Digital Simulation stage and motor in RCP It is substituted with material object, and substitutes the controller in Digital Simulation stage using in kind in HIL.In this process to corroborate each other In, by analyzing the substitution effect difference of simulation component and actual part, it can be found that the defect of design phase so that number is imitative True result is continued to optimize and is corrected.
Step 5, System Integration Test:As the final stage of servo-control system exploitation, controller, loop of power circuit are driven Dynamic and servo motor carries out the all-real object system integration, as shown in figure 11.
In servo-control system integration testing, carry out fictitious load torque using load motor, and by high-speed multiple channel number According to collecting device, tests the final working performance of system item by item according to system design objective, include the control of motor driven systems Response, load current step response, band carry and start response, frequency response bandwidth etc..
In traditional " line style " development mode, the performance evaluating of servo-control system can only be in last integration testing rank Duan Jinhang.Hardware has been cured at this time, and software also consumes a large amount of manpowers and carries out exploitation design, and cost is changed in subversive design Greatly, the time is long.And control algolithm, embedded software, hardware many factors are coupled, and are brought for the positioning of failure Difficulty.
SERVO CONTROL " V-type " development process of the present embodiment is different from traditional " line style " development scheme, there is following apparent area Not:Mentality of designing based on MBD runs through system development always;By Digital Simulation and HWIL simulation means, opened in system Each stage fast verification result of design of hair exposes design defect as early as possible, accelerates system iteration speed.
The problem of the present embodiment is solved be:
(1) the hand-written code development of mainstream dsp controller:
Increase high-performance CPU, can solve the problems, such as the execution efficiency of complex control algorithm
Using Matlab Simulink pattern development modes, solve the problems, such as that hand-written C language code development efficiency is low.
Platform provides control parameter online modification, and process data real-time recording function solves DSP development board debugging method lists One problem.
(2) with the development scheme of embedded computer+DSP control cards:From platform architecture, we have resemblance by platform, Difference is as follows:
Using Matlab Simulink pattern development modes, the real-time system lower generation that embedded computer uses is solved Code development efficiency problem, as control routine is developed under VxWorks real time operating system.Control system is carried out under real-time system to open Hair, to developing personnel requirement higher;
This development platform increases a upper host of Windows, and disposes from the RT-Sim exploitation monitoring softwares ground, can Control parameter online modification, process data real-time recording function is supported to provide development efficiency;
Motor control card in this platform is turned PCI or PMC by increase PMC and is turned CPCI support plates, energy using PMC interfaces It enough adapts to CPCI/PXI computers or PCI computers, the computer type used is more.
(3) the research and development type servo-driver of this platform provider industry grade, compares the power drive unit of both above mode (i.e. three-phase inverter), product maturity higher, and defencive function is more perfect.Such as power drive list in two ways above Member can directly burn power device once the pwm control signal received is wrong.And the research and development type servo-driver of this platform It is embedded with the real time monitoring function based on CPLD, pwm control signal can be acquired in real time, once it is wrong, it can shield in time outer Portion's signal avoids burning power device.
Finally it should be noted that:The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations;To the greatest extent Present invention has been described in detail with reference to the aforementioned embodiments for pipe, it will be understood by those of ordinary skill in the art that:Its is right Technical solution recorded in foregoing embodiments is modified, and is either equally replaced to which part or all technical features It changes, the range for various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution.

Claims (5)

1. a kind of SERVO CONTROL MBD development platforms, which is characterized in that the SERVO CONTROL MBD development platforms use host-target Machine structure, including:Real-time simulator, servo motor and research and development type driver;
The real-time simulator passes through motor control card, pwm signal of the output with the dead time function;Then pass through research and development type Three-phase inverter bridge circuit on driver drives the rotation of servo motor;Increment code wheel signal is acquired simultaneously, forms closed-loop control Circuit;By the load simulation motor to dragging, apply opposing torque load, it is special with the carry load work for verifying AC servo motor Property.
2. SERVO CONTROL MBD development platforms according to claim 1, the real-time simulator is real-time using Links-Box Emulator.
3. SERVO CONTROL MBD development platforms according to claim 1, which is characterized in that the motor control card and calculating PMC interfaces are used between machine, being adapted to support plate by replacement is applied in the computer of the various buses of CPIC, PCI;Inside board Using the framework of dual port RAM+DSP, the two-way communication between computer CPU and motor control card DSP is realized;Meanwhile by matching The included Dead-Band moulds polarity control register in the block of DSP on pieces is set, realizes the setting of dead time;Last motor control The all functional modules configuration of fabrication is integrated into the module librarys Matlab Simulink, realizes the collection of control algolithm and Hardware I/O At exploitation.
4. SERVO CONTROL MBD development platforms according to claim 1, which is characterized in that the research and development type driver increases External PWM signal control model;Under this pattern, the current loop control of driver is realized in outside, and external equipment will be substituted and be driven DSP inside device, the IGBT inverter circuits of output pwm signal direct controlling and driving device, busbar voltage, phase current and encoder letter It is number also synchronous to realize externally output;Meanwhile being risk caused by the external pwm pattern of reply, increase the inspection of PWM phase shortages It surveys, dead-time detection function, realizes the self-protection of driver.
5. SERVO CONTROL MBD development platforms according to any one of claims 1 to 4, which is characterized in that User Exploitation Simulink motor control algorithms can further complete DSP code and automatically generate, and process includes the following steps:
1) model preparation:In Simulink motor control algorithms models, increase DSP personality modnies and interface resource module, The interface resources interface such as AIO, PWM, DIO of Simulink models and DSP is subjected to connection;
2) environment configurations:Under Matlab environment, starts from the DSP code automatic generating software DSP Autocoder ground, complete The centralized configuration of DSP code environment, including IDE environment, dsp software development environment, DSP peripheral resources configure, solver selects, Code building tlc stencil-chosens etc.;
3) automatic compiling:After the completion of environment configurations, a key clicks real time workshop button in DSP Autocoder softwares, Realize automatically generating for DSP target C language source codes;
4) code programming:It is identical as normal DSP programmings mode, start CCS softwares in exploitation host side, by emulator from electricity The JTAG programming mouths of machine control card complete the code programming of DSP.
CN201710990814.8A 2017-10-23 2017-10-23 A kind of SERVO CONTROL MBD development platforms Pending CN108469778A (en)

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