CN108599659B - Servo system based on real-time motion control platform and FPGA and control method thereof - Google Patents
Servo system based on real-time motion control platform and FPGA and control method thereof Download PDFInfo
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- CN108599659B CN108599659B CN201810495978.8A CN201810495978A CN108599659B CN 108599659 B CN108599659 B CN 108599659B CN 201810495978 A CN201810495978 A CN 201810495978A CN 108599659 B CN108599659 B CN 108599659B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0077—Characterised by the use of a particular software algorithm
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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Abstract
The invention discloses a servo system based on a real-time motion control platform and an FPGA and a control method thereof, wherein the servo system comprises the following steps: and the real-time motion control platform and the FPGA are sequentially in communication connection. The real-time motion control platform is configured to run a motion planning algorithm to obtain position given information, and the position given information are output and transmitted to an industrial Ethernet network through a position regulator and a speed regulator respectively to perform data interaction with the FPGA; the FPGA is configured to receive a current reference vector signal transmitted by the network driving module, and a current loop realized by a pure hardware logic circuit generates a PWM modulation wave to drive the power module; and transmitting the sampled feedback data to the real-time motion control platform through an industrial Ethernet to form a closed loop.
Description
Technical Field
The invention belongs to the technical field of motion control, and particularly relates to a servo system based on a real-time motion control platform and an FPGA (field programmable gate array) and a control method thereof.
Background
Since the 80 s in the 20 th century, with the rapid development of support technologies such as power electronics, control technology, and computer technology, the development of ac servo control technology has been greatly advanced, and ac servo technology has become one of the supports for industrial automation. Among them, servo control is one of the most critical techniques for determining the performance of a servo system.
Most of the servo systems in the market adopt software schemes of DSP and MCU, and due to the limitation of hardware chip performance, the control scheme causes the cycle of three closed loops of the servo system to be overlarge, so that the satisfactory control effect cannot be achieved in the environment with high requirements.
With the increasingly powerful data processing function of the upper computer and the increasingly powerful performance of the motion controller, the motion controller on the market at present basically only operates a motion control algorithm and does not relate to a servo-driven three-loop algorithm, so that the performance of the controller cannot be fully utilized; meanwhile, in a scheme in which the motion controller and the servo driver are separated, the algorithm of the servo driver is usually solidified, and the control performance is greatly limited by the performance of the servo driver.
In summary, an effective solution is still lacking for the problem of how to effectively combine the motion controller and the servo driver to realize high-performance servo driving in the prior art.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a servo system based on a real-time motion control platform and an FPGA and a control method thereof, which effectively shorten the control algorithm period of a current loop, fully utilize the strong data processing capacity of an upper computer controller and realize more complex algorithms on the upper computer. The invention comprehensively optimizes the control performance from the aspect of a three-loop control algorithm and the aspect of a motion planning algorithm.
The invention aims to provide a servo system based on a real-time motion control platform and an FPGA.
In order to achieve the purpose, the invention adopts the following technical scheme:
a servo system based on a real-time motion control platform and an FPGA comprises: the real-time motion control platform and the FPGA are sequentially in communication connection;
the real-time motion control platform is configured to run a motion planning algorithm to obtain position given information, generate given information of a current loop through the operation of a position regulator and a speed regulator, output the given information to an industrial Ethernet network and perform data interaction with the FPGA;
the FPGA is configured to receive a current reference vector signal transmitted by the real-time motion control platform, and a current loop realized by a pure hardware logic circuit generates a PWM modulation wave to drive a power module; and transmitting the sampled feedback data to the real-time motion control platform through an industrial Ethernet to form a closed loop.
As a further preferred scheme, the real-time motion control platform includes an ethernet driver module, and the ethernet driver module is configured to parse and package ethernet packets, run an ethernet state machine, and construct tasks of a user layer ethernet driver interface; the Ethernet driving module is respectively connected with a position regulator module and a speed regulator module which run in a kernel layer of the real-time motion control platform;
the speed regulator module is configured to receive encoder data analyzed and obtained by the Ethernet drive module, compare given speed information with feedback speed information to obtain a speed deviation value, and output a current given signal after regulation, so that closed-loop control of speed is realized;
the position regulator module is configured to receive encoder data analyzed by the Ethernet driving module, compare given position information with feedback position information, obtain a position deviation value, and output a speed given signal after regulation, so that closed-loop control of the position is achieved.
As a further preferred scheme, the real-time motion control platform further comprises a state display module and a motor non-real-time task module;
the state display module is configured to display a motor control state;
the motor non-real-time task module is configured to be a motor non-real-time state machine task, and is mainly used for configuring motor parameters, monitoring the running state of a motor and the like.
As a further preferable scheme, the ethernet driving module is further configured to transmit a motor configuration parameter and a motor control parameter to the FPGA, and receive motor state information and motor rotation angle information fed back by the FPGA.
As a further preferred scheme, the FPGA comprises a network driving module, a current processing module, a current feedforward module, an encoder processing module, a coordinate transformation module, a current regulator module, an inverse PARK transformation module, an SVPWM modulation module and a PWM pulse width output module;
the network driving module is configured as a driving of an industrial Ethernet, and can enable the data transmission rate to reach hundreds of megabytes or gigabytes for being responsible for transmission and analysis of data on the network;
the current processing module is configured to convert the analog current signal into a digital current signal, filter a high-frequency interference signal in the digital current signal to obtain a current value sampling value of a three-phase static coordinate system of the motor, and transmit the current value sampling value to the coordinate transformation module;
the current feedforward module is configured to optimize the performance of a current loop and comprises a current feedforward compensation module, and the current feedforward compensation module is configured to calculate the disturbance quantity in advance according to model analysis so as to compensate the torque;
the encoder processing module is configured to receive a position signal of an external position feedback element, convert the position signal into corresponding electrical angle information after data processing, and send the angle information to the coordinate transformation module;
the coordinate transformation module is configured to convert a three-phase static current signal in a static coordinate system into a current signal in a synchronous rotating coordinate system and output the current signal to the current regulator module;
the current regulator module is configured to compare a received motor current control instruction transmitted by the network driving module with a current signal output by the coordinate transformation module to obtain a current error, perform operation through a PI regulator to obtain a voltage vector under a synchronous rotation coordinate system, and transmit the voltage vector to the inverse PARK transformation module;
the inverse PARK conversion module is configured to convert the received voltage vector of the current regulator module under the synchronous rotation coordinate system into a voltage vector of a two-phase static coordinate system and transmit the voltage vector to the SVPWM modulation module;
the SVPWM module is configured to receive the voltage vector under the two-phase static coordinate system output by the inverse PARK conversion module, calculate the pulse width modulation time through algorithms such as sector judgment, voltage space vector action time calculation and the like, and transmit the pulse width modulation time to the PWM pulse width output module;
the PWM pulse width output module is configured to receive the pulse width modulation time generated by the SVPWM modulation module, insert the dead zone processing time and generate U, V, W three-phase pulse width modulation waves to drive the power inverter.
As a further preferred scheme, the current processing module in the FPGA adopts an oversampling technology; and the coordinate transformation module in the FPGA adopts a transformation matrix to convert current signals under a three-phase static coordinate system into current signals under a two-phase synchronous rotating coordinate system, and the motor control model is decoupled.
As a further preferred scheme, the voltage vector output by the current regulator module in the FPGA adopts amplitude limiting processing. Outputting a maximum voltage limit value of the current regulator module when the voltage vector is greater than the maximum voltage limit value of the current regulator module; outputting a minimum voltage clipping value for the current regulator module when the voltage vector is less than the minimum voltage clipping value for the current regulator module; outputting a voltage vector when the voltage vector is greater than or equal to a minimum voltage limit value of the current regulator module and less than or equal to a maximum voltage limit value of the current regulator module.
As a further preferred scheme, a speed regulator module in the real-time motion control platform adopts a self-adaptive variable gain PI regulator, and the gain of the speed regulator can be regulated in real time according to the difference between a given speed and a feedback speed;
and the position regulator module in the real-time motion control platform filters the given position information in a smooth data mode to obtain a smooth motion curve.
The second purpose of the invention is to provide a control method of a servo system based on a real-time motion control platform and an FPGA.
In order to achieve the purpose, the invention adopts the following technical scheme:
a control method of a servo system based on a real-time motion control platform and an FPGA (field programmable gate array) comprises the following steps of:
the real-time motion control platform runs a motion planning algorithm to obtain position given information, obtains current information through a position regulator and a speed regulator respectively, transmits the current information to an industrial Ethernet network, and performs data interaction with the FPGA;
the FPGA receives a current reference vector signal transmitted by the network driving module, and a current loop realized by a pure hardware logic circuit generates a PWM modulation wave to drive a power module; and sampling feedback data is transmitted to the real-time motion control platform through an industrial Ethernet to form a closed loop.
The invention has the beneficial effects that:
1. according to the servo system and the control method thereof based on the real-time motion control platform and the FPGA, all current loops in servo control are realized by pure hardware logic, and all control algorithms of the current loops can be realized only by tens of microseconds, so that the control algorithm period of the current loops is effectively shortened, the current loop bandwidth is expanded, and the requirement on high performance of servo drive is met.
2. According to the servo system and the control method thereof based on the real-time motion control platform and the FPGA, the position loop and speed loop algorithm in the traditional servo driver is realized by being put on the real-time controller, the strong data processing capacity of the upper computer controller is fully utilized, the communication period of the position loop and the speed loop is further ensured, and the control performance is enhanced.
3. According to the servo system based on the real-time motion control platform and the FPGA and the control method thereof, more servo driving and motion control algorithms can be put on the controller to be realized, the flexibility of the control algorithms is increased, the control algorithms can be changed according to the motion load condition, the flexibility in the control process is greatly improved, and the hardware cost is reduced. In addition, the communication mode based on the industrial Ethernet ensures the control period of the servo system, and is the trend of the development of the future motion control.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a schematic diagram of a servo system structure based on a real-time motion control platform and an FPGA according to the present invention;
FIG. 2 is a schematic diagram of a coordinate transformation module according to the present invention;
FIG. 3 is a flow chart of the implementation of computation timing under the FPGA platform of the present invention;
wherein, on the FPGA: the system comprises a 1-network driving module, a 2-IPARK conversion module, a 3-SVPWM modulation module, a 4-PWM pulse width output module, a 5-current regulator module, a 6-coordinate conversion module, a 7-current processing module, an 8-encoder processing module and a 9-current feedforward module; under the real-time motion control platform: 10-Ethernet driving module, 11-speed regulator module, 12-position regulator module, 13-motion planning module, 14-state display module and 15-motor non-real-time task module.
The specific implementation mode is as follows:
the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise. Furthermore, it will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
It is noted that the flowchart and block diagrams in the figures represent the architecture, functionality, and operation of possible implementations of methods and systems according to various embodiments of the present disclosure. It should be noted that each block in the flowchart or block diagrams may represent a module, a segment, or a portion of code, which may comprise one or more executable instructions for implementing the logical function specified in the respective embodiment. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Without conflict, the embodiments and features of the embodiments in the present application may be combined with each other, and the present invention will be further described with reference to the drawings and the embodiments.
Example 1:
the purpose of this embodiment 1 is to provide a first purpose of the present invention to provide a servo system based on a real-time motion control platform and an FPGA.
In order to achieve the purpose, the invention adopts the following technical scheme:
as shown in figure 1 of the drawings, in which,
a servo system based on a real-time motion control platform and an FPGA mainly comprises two parts: the real-time motion control platform and the FPGA are sequentially in communication connection; the real-time motion control platform is configured to run a motion planning algorithm to obtain position given information, and the position given information are output and transmitted to an industrial Ethernet network through a position regulator and a speed regulator respectively to perform data interaction with the FPGA; the FPGA is configured to receive a current reference vector signal transmitted by an industrial Ethernet, and a current loop realized by a pure hardware logic circuit generates a PWM modulation wave to drive a power module; and transmitting the sampled feedback data to the real-time motion control platform through an industrial Ethernet to form a closed loop.
In this embodiment, the industrial ethernet is a hundred megabytes or gigabytes of industrial ethernet.
The first part is a speed regulator module 11, a position regulator module 12, an Ethernet drive module 10, a motion planning module 13, a state display module 14 and a motor non-real-time task module 15 under a real-time motion control platform.
The real-time motion control platform comprises an Ethernet drive module 10, wherein the Ethernet drive module 10 is configured to analyze and package an Ethernet data packet, run an Ethernet state machine and construct tasks of a user layer Ethernet drive interface; the Ethernet driving module 10 is respectively connected with a speed regulator module 11 and a position regulator module 12 which run on a kernel layer of the real-time motion control platform; in this embodiment, the ethernet driver module 10 operates in a kernel layer of the real-time motion control platform, and mainly completes parsing and packaging of an ethernet data packet, operating an ethernet state machine, constructing a user-layer ethernet driver interface, and the like, and in cooperation with an industrial ethernet, greatly shortens a communication period, and ensures periods of a speed loop and a position loop.
The speed regulator module 11 is configured to receive encoder data analyzed by the ethernet driving module 10, compare given speed information with feedback speed information, obtain a speed deviation value, and output a current given signal after regulation, thereby implementing closed-loop control of speed;
in this embodiment, the speed regulator module 11 regulates the speed output by calculating the deviation of the given speed value and the fed back speed value, eventually making the given value equal to the feedback value, but because of the difference in the feedback valuesDuring the initial start-up of the motor, the feedback speed value is small, resulting in an excessive deviation value, if K is the periodpAnd TiIf the parameter(s) is still set too large, overshoot and motor vibration may result. Therefore, according to the principle of 'large deviation and small gain and small deviation and large gain', the speed regulator adopts the variable gain PI regulator, so that overshoot is avoided when the speed deviation is large, and the response speed is increased when the speed deviation is small. The speed regulator of the speed regulator module 11 in the real-time motion control platform adopts a self-adaptive variable gain PI regulator, and the formula is as follows:
wherein the content of the first and second substances,
wherein itA current vector outputted for the speed regulator, etDeviation value for comparison of feedback speed information obtained by said speed regulator with given speed information, eminIs the minimum value of the deviation value, emaxIs the maximum value of said deviation value, Kp_hIs the maximum value of the scaling factor, Kp_lIs the minimum value of the scale factor, Kp_mIs the normal value of the scale factor, Ti_hMaximum value of the differential time, Ti_mIs the normal value of the differential time, Ti_mIs the minimum value of the differentiation time.
The position regulator module 12 is configured to receive encoder data analyzed by the ethernet driving module 10, compare the given position information with the feedback position information, obtain a position deviation value, and output a speed given signal after regulation, thereby implementing closed-loop control of the position.
In this embodiment, the position adjuster module 12 in the real-time motion control platform filters the given position information in a smooth data manner to obtain a smooth motion curve. In the present embodiment, it is preferred that,the position regulator module 12 regulates the position output by calculating the deviation of the given position value and the fed back position value, eventually making the position set value equal to the position feedback value, the gain K of the position regulator not allowing overshoot of the positionpIt cannot be set to be large, and KpToo small results in too slow a response speed, and thus the position regulator module 12 adds a feed forward function to ensure both no overshoot and a response speed.
The speed regulator module 11 under the real-time motion control platform and the position regulator module 12 under the real-time motion control platform operate in the inner core layer, so that the real-time performance is ensured, and the loop performance is improved.
The real-time motion control platform also comprises a state display module 14 and a motor non-real-time task module 15;
the state display module 14 runs on a user layer, and the state display module 14 is configured to display a motor control state and belongs to a non-real-time task;
the motor non-real-time task module 15 is configured to be a motor non-real-time state machine task, and mainly configures motor parameters, monitors the running state of the motor, and the like.
The second part is a network driving module 1, a current processing module 7, a current feedforward module 9, an encoder processing module 8, a coordinate transformation module 6, a current regulator module 5, an IPARK transformation module 2, an SVPWM modulation module 3 and a PWM pulse width output module 4 which are operated on the FPGA;
the FPGA comprises a network driving module 1, and a current processing module 7, a current feedforward module 9, an encoder processing module 8, a coordinate transformation module 6, a current regulator module 5, an inverse PARK transformation module 2, an SVPWM modulation module 3 and a PWM pulse width output module 4 which are respectively connected with the network driving module 1;
the network driving module 1 is configured as a drive of an industrial ethernet, and can enable the data transmission rate on the network to reach hundreds of megabytes or gigabytes, so as to be responsible for the transmission and analysis of data on the network; receiving a reference current instruction (Id) transmitted by the real-time motion platformref) Motor configuration parameters (regulator gain, current loop enable signal, etc.)) And state variables of the motor (three-phase current of a static coordinate system, encoder sampling values and the like) are transmitted back to the real-time motion platform.
The current processing module 7 is configured to control the timing and start and stop of the sampling chip, and to simulate the current signal Ia,IbThe current is converted into a digital current signal, and a digital low-pass filter is added to filter high-frequency interference signals in the digital current signal, so that the current sampling is more accurate; and according to formula Ia+Ib+IcCalculating the actual current value of the three-phase static coordinate system of the motor as 0, and transmitting the actual current value to the coordinate transformation module 6; in this embodiment, the current processing module 7 in the FPGA employs an oversampling technology, which effectively improves the resolution of a-D sampling.
The current feed-forward module 9 is configured to optimize the current loop performance and to calculate the disturbance amount in advance for torque compensation according to model analysis;
the encoder processing module 8 is configured to receive a position signal of an external position feedback element, perform data processing on the position signal, convert the position signal into corresponding electrical angle information θ, and send the angle information to the coordinate transformation module 6;
the coordinate transformation module 6 is configured to convert the voltage signal and the current signal in the stationary coordinate system into a current signal in the synchronous rotating coordinate system, and output the current signal to the current regulator module 5; in this embodiment, the coordinate transformation module 6 in the FPGA adopts a transformation matrix to convert a current signal in a three-phase stationary coordinate system into a current signal in a two-phase synchronous rotating coordinate system, so as to decouple the motor control model. As shown in fig. 2, under the driving of the FPGA clock signal, a multiplier multiplexing and serial pipeline mode is adopted, and CLAKRE and PARK transforms are fused together for operation, and the operation can be completed only by two multipliers and 8 to 9 clock cycles. The coordinate transformation module 6 transforms the current signal in the stationary coordinate system into the current signal in the synchronous rotating coordinate system, and outputs the current signal to the current regulator module 5 to realize the current regulation control, and the transformation matrix is:
wherein, Ia、IbAs an input to said coordinate transformation module 6, Id、Iqθ is the angle information output by the encoder processing module 8, which is the result of the coordinate transformation module 6. The transformation matrix realizes the current I under a three-phase a-b-c static coordinate systema、IbConverted into current I under two-phase synchronous rotating coordinate systemd、IqTherefore, the decoupling of the motor control model is realized.
The current regulator module 5 is configured to receive a motor current control command (Id) of the network drive module 1ref,Iqref) Comparing the current signals output by the coordinate conversion module 6, calculating by a PI regulator to obtain a voltage vector under a synchronous rotation coordinate system, and transmitting the voltage vector to the inverse PARK conversion module (IPARK conversion module 2);
the formula for the current regulator module 5 to perform PI regulation is as follows:
wherein u istReference voltage vector, K, for the output of said current regulator module 5pAnd TiFor the regulation parameter of the current regulator module 5, etIs the difference between the input current and the feedback current of said current regulator module 5.
In this embodiment, the voltage vector u output by the current regulator module 5 in the FPGAtAnd (3) amplitude limiting processing is adopted:
wherein u ismaxIs the maximum voltage limit value, u, of said current regulator module 5minIs the minimum voltage limit value of the current regulator module 5.
When the voltage vector is greater than the maximum voltage limit value of the current regulator module 5, outputting the maximum voltage limit value of the current regulator module 5; outputting a minimum voltage limit value of said current regulator module 5 when the voltage vector is smaller than the minimum voltage limit value of said current regulator module 5; when the voltage vector is equal to or greater than the minimum voltage limit value of the current regulator module 5 and equal to or less than the maximum voltage limit value of the current regulator module 5, the voltage vector is output.
The inverse PARK transformation module (IPARK transformation module 2) is configured to convert the received voltage vector of the current regulator module 5 in the synchronous rotation coordinate system into a voltage vector of the two-phase stationary coordinate system, and transmit the voltage vector to the SVPWM modulation module 3;
the SVPWM modulation module 3 is configured to receive the voltage vector (v) in the two-phase stationary coordinate system output by the inverse PARK conversion moduleα,vβ) And finally, outputting the pulse width modulation time to the PWM pulse width output module 4 through algorithms such as sector judgment, voltage space vector action time calculation, switch conduction time determination and the like.
The PWM pulse width output module 4 is configured to receive the pulse width modulation time generated by the SVPWM modulation module 3, insert the dead time processing time and generate U, V, W three-phase pulse width modulation wave to drive the power inverter.
The embodiment also provides a control method of the servo system based on the real-time motion control platform and the FPGA.
In order to achieve the purpose, the invention adopts the following technical scheme:
a servo system based on a real-time motion control platform and an FPGA (field programmable gate array), based on the servo system, the method comprises the following steps:
the real-time motion control platform runs a motion planning algorithm to obtain position given information, obtains current given information through a position regulator and a speed regulator respectively, outputs the current given information to an industrial Ethernet network, and performs data interaction with the FPGA;
the FPGA receives a current reference vector signal transmitted by the network driving module 1, and a current loop realized by a pure hardware logic circuit generates a PWM modulation wave to drive a power module; and transmitting the sampled feedback data to the real-time motion control platform through an industrial Ethernet to form a closed loop.
In the present example, as shown in fig. 3, the computation timing under the FPGA platform is shown. The network driving module 1 receives a current given signal transmitted in an industrial Ethernet, and then generates PWM (pulse-width modulation) modulation waves through current sampling and encoder sampling, coordinate transformation, PI (proportional-integral) control, current feedforward, IPARK (inverse proportional-integral-differential) transformation, SVPWM (space vector pulse-width modulation) modulation and the like so as to drive the power module;
the invention has the beneficial effects that:
1. according to the servo system and the control method thereof based on the real-time motion control platform and the FPGA, all current loops in servo control are realized by pure hardware logic, and all control algorithms of the current loops can be realized only by tens of microseconds, so that the control algorithm period of the current loops is effectively shortened, the current loop bandwidth is expanded, and the requirement on high performance of servo drive is met.
2. According to the servo system and the control method thereof based on the real-time motion control platform and the FPGA, the position loop and speed loop algorithm in the traditional servo driver is realized by being put on the real-time controller, the strong data processing capacity of the upper computer controller is fully utilized, the communication period of the position loop and the speed loop is further ensured, and the control performance is enhanced.
3. According to the servo system based on the real-time motion control platform and the FPGA and the control method thereof, more servo driving and motion control algorithms can be put on the controller to be realized, the flexibility of the control algorithms is increased, the control algorithms can be changed according to the motion load condition, the flexibility in the control process is greatly improved, and the hardware cost is reduced. In addition, the communication mode based on the industrial Ethernet ensures the control period of the servo system, and is the trend of the development of the future motion control.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. A servo system based on real-time motion control platform and FPGA, characterized by comprising: the real-time motion control platform and the FPGA are sequentially in communication connection;
the real-time motion control platform is configured to run a motion planning algorithm to obtain position given information, generate given information of a current loop through the operation of a position regulator and a speed regulator respectively, output the given information to an industrial Ethernet network and perform data interaction with the FPGA;
the FPGA is configured to receive a current reference vector signal of the real-time motion control platform, and a current loop realized by a pure hardware logic circuit generates a PWM modulation wave to drive a power module; transmitting the sampled feedback data to the real-time motion control platform through an industrial Ethernet to form a closed loop;
the FPGA comprises a current feed-forward module; the current feedforward module is configured to optimize current loop performance, and comprises a current feedforward compensation module configured to calculate a disturbance amount in advance according to model analysis for torque compensation;
the real-time motion control platform comprises an Ethernet drive module, wherein the Ethernet drive module is configured to analyze and package network data packets, run an Ethernet state machine and construct tasks of a user layer Ethernet drive interface; the Ethernet driving module is respectively connected with a position regulator module and a speed regulator module which run in a kernel layer of the real-time motion control platform;
the speed regulator module is configured to receive encoder data analyzed and obtained by the Ethernet drive module, compare given speed information with feedback speed information to obtain a speed deviation value, and output a current given signal after regulation, so that closed-loop control of speed is realized;
the position regulator module is configured to receive encoder data analyzed by the Ethernet driving module, compare given position information with feedback position information, obtain a position deviation value, and output a speed given signal after regulation, so that closed-loop control of the position is achieved.
2. The servo system of claim 1 wherein the real-time motion control platform further comprises a status display module and a motor non-real-time task module;
the state display module is configured to display a motor control state;
the motor non-real-time task module is configured to be a motor non-real-time state machine task, and is mainly used for configuring motor parameters, monitoring the running state of a motor and the like.
3. The servo system of claim 1 wherein the ethernet driver module is configured to transmit motor configuration parameters, motor control parameter information to the FPGA and to receive motor status information and motor rotation angle information fed back by the FPGA.
4. The servo system of claim 1 wherein the FPGA comprises a network driver module, a current processing module, a current feed forward module, an encoder processing module, a coordinate transformation module, a current regulator module, an inverse PARK transformation module, an SVPWM modulation module, and a PWM pulse width output module;
the network driving module is configured as a driving of an industrial Ethernet, and can enable the data transmission rate to reach hundreds of megabytes or gigabytes for being responsible for transmission and analysis of data on the network;
the current processing module is configured to convert the analog current signal into a digital current signal, filter a high-frequency interference signal in the digital current signal to obtain a current value sampling value of a three-phase static coordinate system of the motor, and transmit the current value sampling value to the coordinate transformation module;
the current feedforward module is configured to optimize current loop performance, and comprises a current feedforward compensation module configured to calculate a disturbance amount in advance according to model analysis for torque compensation;
the encoder processing module is configured to receive a position signal fed back by an external position feedback element, convert the position signal into corresponding electrical angle information after data processing, and send the angle information to the coordinate transformation module;
the coordinate transformation module is configured to convert the current signal in the stationary coordinate system into a current signal in the synchronous rotating coordinate system and output the current signal to the current regulator module;
the current regulator module is configured to compare the received motor current control signal transmitted by the network driving module with a current signal output by the coordinate transformation module to obtain a current error, and perform operation through a PI regulator to obtain a voltage vector under a synchronous rotation coordinate system and transmit the voltage vector to the inverse PARK transformation module;
the inverse PARK conversion module is configured to convert the received voltage vector of the current regulator module under the synchronous rotation coordinate system into a voltage vector of a two-phase static coordinate system and transmit the voltage vector to the SVPWM modulation module;
the SVPWM module is configured to receive the voltage vector under the two-phase static coordinate system output by the inverse PARK conversion module, calculate the pulse width modulation time through sector judgment and a voltage space vector action time calculation algorithm, and transmit the pulse width modulation time to the PWM pulse width output module;
the PWM pulse width output module is configured to receive the pulse width modulation time generated by the SVPWM modulation module, insert the dead zone processing time and generate U, V, W three-phase pulse width modulation waves to drive the power inverter.
5. The servo system of claim 1 wherein the speed regulator module in the real-time motion control platform employs an adaptive variable gain PI regulator.
6. The servo system of claim 1 wherein the position adjuster module in the real-time motion control platform filters the given position information by smoothing the data to obtain a smooth motion profile.
7. The servo system of claim 4 wherein the current processing modules in the FPGA employ an oversampling technique; and the coordinate transformation module in the FPGA adopts a transformation matrix to convert current signals under a three-phase static coordinate system into current signals under a two-phase synchronous rotating coordinate system, and the motor control model is decoupled.
8. The servo system of claim 4 wherein the voltage vectors output by said current regulator modules in said FPGA are clipped; when the voltage vector is larger than the maximum voltage limiting value of the current regulator module, outputting the maximum voltage limiting value of the current regulator module; outputting a minimum voltage clipping value for the current regulator module when the voltage vector is less than the minimum voltage clipping value for the current regulator module; outputting a voltage vector when the voltage vector is greater than or equal to a minimum voltage limit value of the current regulator module and less than or equal to a maximum voltage limit value of the current regulator module.
9. A control method of a servo system based on a real-time motion control platform and an FPGA is based on the servo system of claim 4, and is characterized by comprising the following steps:
the real-time motion control platform runs a motion planning algorithm to obtain position given information, obtains current information through a position regulator and a speed regulator respectively, transmits the current information to an industrial Ethernet network, and performs data interaction with the FPGA; the FPGA receives a current reference vector signal transmitted by the network driving module, and a current loop realized by a pure hardware logic circuit generates a PWM modulation wave to drive a power module; and transmitting the sampled feedback data to the real-time motion control platform through an industrial Ethernet to form a closed loop.
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