CN109787617A - A method of the rotation based on CPLD becomes excited signal and determines frequency locking phase - Google Patents

Abstract

The invention discloses a kind of, and the rotation based on CPLD becomes the method that excited signal determines frequency locking phase.It can be realized using the present invention and determine frequency locking phase, and reduce the power consumption that rotation becomes driving circuit, improve the reliability and precision of system.The present invention is designed by the top-level module of hardware circuit design, CPLD to DSP and CPLD, and timing Design, produce discrete locking phase magnet excitation frequency, improve the precision of system acquisition, reduce the power consumption of excitation driving circuit, reliability is improved, compatibility is strong, convenient for the integrated design of servo-system.Solving excited signal generation circuit complexity in previous servo circuit, excited signal is continuously uncontrollable, acquisition precision is poor, and it is at high cost, it is not easy to the technical problem of integrated design.

Description

A method of the rotation based on CPLD becomes excited signal and determines frequency locking phase

Technical field

Become excited signal the present invention relates to rotation and determine frequency Phase Lock Technique field, and in particular to a kind of rotation change excitation based on CPLD The method that signal determines frequency locking phase.

Background technique

Rotary transformer becomes common in SERVO CONTROL field because of the features such as its structure is simple, sensitive, high reliability Motor position sensor.Rotary transformer is made of rotor and stator, and the excited signal of rotor is the positive ASinX of excitation, excitation Negative ACosX；The feedback signal of stator is made of+KSinX ,-KSinX ,+KCosX ,-KCosX.In its application process, need by The output analog quantity of current rotary transformer switchs to digital quantity, and core resolves chip and solves current angle and frequency information.

Mostly use Special rotary to become demodulation chip or demodulation module greatly currently, mature rotation becomes demodulation techniques, the method at This is higher, and poor reliability, occupied space is big, and circuit is complicated, is unfavorable for the integrated servo control design and miniaturization of product.Work In Cheng Yingyong, Ye You producer forms a complete production network rotary transformer decoding deck, and decoding deck realizes a kind of pure hardware demodulation method, then passes through Scheduled communication mode sends the relevant informations such as rotation varied angle, and this method complex circuit designs, SERVO CONTROL integrated level is poor, failure Rate is high and precision is difficult to ensure.In addition, traditional excited signal is designed as continuous cosine and sine signal, the method excitation driving electricity Road is in continuous duty, and circuit power consumption compares larger, increases the zero-bit electrical error that rotation becomes.

Modern Small SERVO CONTROL product designs a kind of ball bearing made, the integration rotation of high reliablity becomes excited signal The method for determining frequency locking phase proposes urgent technology needs.

Summary of the invention

In view of this, the present invention provides a kind of, the rotation based on CPLD becomes the method that excited signal determines frequency locking phase, passes through production Raw discrete rotation becomes excited signal and timing Design, realizes that AD acquires genlock, reduces the function that rotation becomes driving circuit Consumption, improves the reliability and precision of system.

The method that rotation change excited signal based on CPLD of the invention determines frequency locking phase, including DSP, CPLD, DA acquisition chip, Blocking amplification treatment circuit and AD acquisition chip, peripheral equipment are rotary transformer；

The CPLD is used to generate the discrete function point of pumping signal；Meanwhile generate 4 trigger signal T1 with frequency~ T4；Wherein, T1 is the sampled signal of control system, and T2 is excited signal starting and reset signal, wherein the rising edge conduct of T2 Excitation enabling signal, reset signal of the failing edge as excited signal；T3 is AD locking phase conversion signal, is programmed by phase, is locked The over-sampling time for determining AD is located at the wave crest section of excited signal；T4 is external trigger DSP signal, after the completion of AD acquisition, touching Hair DSP interrupt carries out the demodulation of rotation varied angle；

DA acquisition chip T2 signal triggering under acquisition CPLD generate pumping signal and be converted to analog quantity be sent to every Straight amplification treatment circuit is sent to rotary transformer after blocking enhanced processing；

The rotary transformer works according to the pumping signal received；

AD acquisition chip is acquired and is converted into digital quantity to the rotation varied angle of rotary transformer under the triggering of T3 signal, It is sent to DSP；

The DSP generates interruption under the triggering of T4 signal, and the rotation varied angle sent to AD acquisition chip demodulates.

The utility model has the advantages that

1) integrated, simplification, lightness.Servo-system circuit design only needs a piece of DSP, CPLD main control chip Generation and demodulation that rotation becomes excited signal are completed, integration degree is high, mitigates pcb board weight.

2), low-power consumption, high reliability.Hardware circuit is simple, and excited signal uses the fixed discrete Design of Signal of frequency, The heat power consumption for reducing excitation driving circuit, improves the reliability of system.

3) at low cost, precision is high.Electronic component is few, saves cost.Determine frequency locking phase to keep with DSP external trigger timing It is synchronous, improve the demodulation accuracy that rotation becomes.

4) magnet excitation frequency and locking phase are programmable.The programmable magnet excitation frequency of this high reliability, the phase-locked function can meet The rotation that different frequency, difference AD are acquired becomes excitation demand.

Detailed description of the invention

Fig. 1 is DSP and CPLD hardware connection figure；

Fig. 2 is that CPLD overlay communication designs module；

Fig. 3 is that top-level module emulates timing diagram；

Fig. 4 is top-level module equivalent schematic.

Specific embodiment

The present invention will now be described in detail with reference to the accompanying drawings and examples.

The present invention provides a kind of, and the rotation based on CPLD becomes the method that excited signal determines frequency locking phase, utilizes DSP and CPLD, base The programmable fixed discontinuous rotation of frequency, which is generated, in CPLD and DA chip communication becomes excited signal；Then by 4 control trigger signals Reasonable timing Design, comprising: the sampling time T1 of control system, excited signal starting and reset signal T2, programmable locking phase AD analog-to-digital conversion signal T3, external trigger DSP signal T4, so that AD synchronous averaging lockin signal and determining in frequency external trigger DSP It is disconnected to carry out rotation change demodulation, to achieve the purpose that system determines frequency locking phase excited signal and resolves rotation varied angle.

The structural block diagram for becoming demodulation method for rotation as shown in Figure 1, it is discrete by the logic macrocell construction Y=ASinX of CPLD Function point transmits data with DA chip SPI communication, determines frequency sinusoidal signal by the output of blocking amplification treatment circuit is programmable, Cosine signal is generated by reverse amplification circuit operation.By the reasonable Timing acquisition of AD, precisely demodulated with reaching rotation softening part Purpose.

As shown in figure 4, setting the sampling time as T1 to the sampling thheorem of control system according to DSP, use T1 as entire control The reference data of system processed.For orderly control system, enable the frequency of T1, T2, T3, T4 equal, locking is relatively solid between each other Fixed phase.Wherein the rising edge of T2 generates sinusoidal signal Y=AsinX, failing edge conduct as excitation enabling signal at this time The reset signal of excited signal.By the T3 of phase programmable, the analog-to-digital conversion section paragraph i.e. A/D chip itself for locking AD is set Fixed over-sampling time △ t falls in the wave crest section of excited signal, to improve the precision for acquiring rotation and becoming.After the completion of AD acquisition, open Dynamic T4, external trigger DSP interrupt carry out the demodulation of rotation varied angle, and the excited signal for thus completing a cycle determines frequency locking phase and soft The current rotation varied angle of part demodulation.

Specifically, the hardware of the method for the present invention includes the floating type DSP28335 of one piece of TI company, one piece of ALTERA company CPLD EPM1270T144I5, a AD, DA chip, operational amplifier etc.；Specific implementation step is as follows:

1) according to shown in Fig. 1, circuit design is carried out using DSP in servo-control system and CPLD hardware connection diagram, Meanwhile according to shown in Fig. 2 to CPLD timing Design top-level module.

2) according to shown in Fig. 2, the emulation timing that T1, T2, T3, T4 timing of the top-level module output of design meet Fig. 3 is wanted It asks, wherein being indicated application analog quantity the SPI output quantity of SinX module in Fig. 2, such as the visualization convenient for digital quantity Shown in Fig. 4.

Wherein, CPLD overlay communication module includes three submodules: fixed frequency design submodule DingPin, AD start submodule Block AD_QD, sinusoidal signal module SinX.Wherein fixed frequency design submodule DingPin is designed according to the sampling thheorem of control system Sampling time T1 out uses T1 as the reference data of entire control system.The enabling signal T4 of external trigger DSP is generated simultaneously, It is used to trigger DSP and carries out software resolving to the data after rotation becomes have been acquired；The T2 of AD promoter module AD_QD is used to start The generation of excited signal and reset Protection Counter Functions.By the T3 of phase programmable, the analog-to-digital conversion segment for locking AD falls in AD On the over-sampling time △ t of chip setting, to improve the precision for acquiring rotation and becoming, specific clock signal timing rhohase such as Fig. 3,4 It is shown.Sinusoidal signal module SinX designs the SPI timing with DA chip communication, constructs Y=ASinX digital quantity, defeated by DA Analog sinus signals out, starting and reset signal are controlled in T2.

3) it after excitation sinusoidal signal is exported by DA chip, is handled by blocking amplifying circuit, required for generation rotation becomes Amplitude requirement, achievees the purpose that required excited signal ASinX, ACosX, improves the driving capability of excited signal and the essence of system Degree.

4) negative-going signal-KSinX ,-KCosX that rotation becomes feedback are met into GND, positive feedback signal+KSinX ,+KCosX connect Enter AD acquisition channel 1,2, seeks its current angular by the arc tangent algorithm demodulation that DSP carries out software.

By the above reasonable timing, circuit design, it can be achieved that the frequency of determining that rotation becomes excited signal in servo-control system is locked Phase, triggering DSP demodulation rotation varied angle.

Top layer timing Design module construction Y=ASinX digital function amount is designed the present invention is based on CPLD and DA carries out SPI Communication will determine frequency Digital Sine Function and switch to discrete determine frequency analog sine function；And it is produced by blocking Design of Amplification Circuit Amplitude required for raw rotation becomes improves the precision that rotation becomes feedback signal；Top-level module based on CPLD generates adopting for control system Sample time T1, excited signal starting and reset signal T2, programmable locking phase AD analog-to-digital conversion signal T3, external trigger DSP signal T4, and timing Design is carried out, using the T3 of phase programmable, the mistake for locking the i.e. A/D chip setting of analog-to-digital conversion segment of AD is adopted The sample time, △ t was fallen at the wave crest of excited signal, to improve the precision for acquiring rotation and becoming；Meanwhile external trigger timing T4 ensure that The arc tangent that triggering DSP carries out current rotation varying signal after the completion of AD acquisition resolves, and improves the reliability of system.To sum up, this hair Bright realize determines frequency locking phase, improves the precision of system acquisition, reduces the power consumption of excitation driving circuit, improves reliability, It is compatible strong, convenient for the integrated design of servo-system.It solves excited signal generation circuit complexity in previous servo circuit, swashs Magnetic signal is continuously uncontrollable, acquisition precision is poor, at high cost, is not easy to the technical problem of integrated design.

In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention. All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention Within protection scope.

Claims (1)

1. a kind of rotation based on CPLD becomes the method that excited signal determines frequency locking phase, which is characterized in that acquired including DSP, CPLD, DA Chip, blocking amplification treatment circuit and AD acquisition chip, peripheral equipment are rotary transformer；

The CPLD is used to generate the discrete function point of pumping signal；Meanwhile generating 4 trigger signal T1~T4 with frequency；Its In, T1 is the sampled signal of control system, and T2 is excited signal starting and reset signal, wherein the rising edge of T2 is as excitation Enabling signal, reset signal of the failing edge as excited signal；T3 is AD locking phase conversion signal, is programmed by phase, and AD is locked The over-sampling time be located at the wave crest section of excited signal；T4 is external trigger DSP signal, after the completion of AD acquisition, triggers DSP Interrupt the demodulation for carrying out rotation varied angle；

The DA acquisition chip pumping signal that acquisition CPLD is generated under the triggering of T2 signal is simultaneously converted to analog quantity and is sent to blocking and put Big processing circuit is sent to rotary transformer after blocking enhanced processing；

The rotary transformer works according to the pumping signal received；

AD acquisition chip is acquired and is converted into digital quantity to the rotation varied angle of rotary transformer under the triggering of T3 signal, sends To DSP；

The DSP generates interruption under the triggering of T4 signal, and the rotation varied angle sent to AD acquisition chip demodulates.