CN109787617B - CPLD-based method for frequency-fixing phase-locking of rotary excitation signal - Google Patents
CPLD-based method for frequency-fixing phase-locking of rotary excitation signal Download PDFInfo
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Abstract
The invention discloses a CPLD-based method for fixed-frequency phase locking of a gyratory excitation signal. The invention can realize fixed frequency phase locking, reduce the power consumption of the rotary drive circuit and improve the reliability and the precision of the system. The invention generates discontinuous phase-locked excitation frequency through the hardware circuit design of the DSP and the CPLD, the top layer module design of the CPLD and the time sequence design, improves the precision of system acquisition, reduces the power consumption of an excitation driving circuit, improves the reliability, has strong compatibility and is convenient for the integrated design of a servo system. The technical problems that an excitation signal generating circuit in the conventional servo circuit is complex, excitation signals are continuous and uncontrollable, acquisition accuracy is poor, cost is high, and integrated design is inconvenient are solved.
Description
Technical Field
The invention relates to the technical field of fixed-frequency phase locking of a rotation-varying excitation signal, in particular to a CPLD-based fixed-frequency phase locking method of the rotation-varying excitation signal.
Background
The rotary transformer is a common motor position sensor in the field of servo control due to the characteristics of simple structure, sensitive action, high reliability and the like. The rotary transformer consists of a rotor and a stator, wherein the excitation signals of the rotor are excitation positive ASinX and excitation negative ACosX; the feedback signal of the stator is composed of +KSinX, -KSinX, +KCosX, -KCosX. In the application process, the output analog quantity of the current rotary transformer is required to be converted into digital quantity, and the core resolving chip resolves the current angle and frequency information.
At present, most of mature rotary demodulation technologies adopt special rotary demodulation chips or demodulation modules, and the method has the advantages of higher cost, poor reliability, large occupied space, complex circuit and unfavorable integrated servo control design and miniaturization of products. In engineering application, manufacturers also produce rotary transformer decoding boards in a matched mode, the decoding boards realize a pure hardware demodulation method, and related information such as a rotation angle and the like is sent through a preset communication mode. In addition, the traditional excitation signal is designed into a continuous sine and cosine signal, the excitation driving circuit is in a continuous working state, the circuit power consumption is relatively large, and the zero electrical error of rotation is increased.
Modern miniaturized servo control products provide urgent technical requirements for a simple circuit design and high-reliability integrated spin-change excitation signal fixed-frequency phase-locking method.
Disclosure of Invention
In view of the above, the invention provides a CPLD-based method for frequency-fixed phase locking of a rotation-varying excitation signal, which realizes AD acquisition and synchronous phase locking by generating a discontinuous rotation-varying excitation signal and timing design, reduces the power consumption of a rotation-varying driving circuit and improves the reliability and precision of a system.
The invention relates to a CPLD-based method for frequency-fixed phase locking of a rotary excitation signal, which comprises a DSP, CPLD, DA acquisition chip, a DC blocking and amplifying circuit and an AD acquisition chip, wherein peripheral equipment is a rotary transformer;
the CPLD is used for generating discrete function points of the excitation signals; meanwhile, generating 4 trigger signals T1-T4 with the same frequency; wherein, T1 is the sampling signal of the control system, T2 is the excitation signal start and reset signal, wherein, the rising edge of T2 is used as the excitation start signal, and the falling edge is used as the reset signal of the excitation signal; t3 is an AD phase-locked conversion signal, and the oversampling time of the locking AD is positioned in the wave peak section of the excitation signal through phase programming; t4 is an external trigger DSP signal, and is used for triggering the DSP to interrupt the demodulation of the rotation angle after the AD acquisition is completed;
the DA acquisition chip acquires an excitation signal generated by the CPLD under the triggering of a T2 signal, converts the excitation signal into an analog quantity, and sends the analog quantity to the DC blocking and amplifying circuit, and sends the analog quantity to the rotary transformer after the DC blocking and amplifying circuit;
the rotary transformer works according to the received excitation signal;
the AD acquisition chip acquires the rotation angle of the rotation transformer under the triggering of the T3 signal, converts the rotation angle into digital quantity and sends the digital quantity to the DSP;
the DSP generates an interrupt under the triggering of the T4 signal, and demodulates the rotation angle sent by the AD acquisition chip.
The beneficial effects are that:
1) Integration, simplification and light weight. The servo system circuit design can complete the generation and demodulation of the gyratory excitation signal only by a DSP and CPLD main control chip, the integration degree is high, and the weight of the PCB is reduced.
2) Low power consumption and high reliability. The hardware circuit has simple structure, the excitation signal adopts a fixed-frequency discontinuous signal design, the heat consumption of the excitation driving circuit is reduced, and the reliability of the system is improved.
3) Low cost and high precision. The electronic components are few, and the cost is saved. The fixed frequency phase lock keeps synchronous with the external triggering time sequence of the DSP, and the demodulation precision of the rotation transformer is improved.
4) The excitation frequency and phase lock are programmable. The programmable excitation frequency and phase locking function with high reliability can meet the requirements of different frequencies and different AD acquisition on gyratory excitation.
Drawings
FIG. 1 is a diagram of a DSP and CPLD hardware connection;
FIG. 2 is a CPLD top level communication design module;
FIG. 3 is a top-level module simulation timing diagram;
fig. 4 is an equivalent schematic diagram of the top module.
Detailed Description
The invention will now be described in detail by way of example with reference to the accompanying drawings.
The invention provides a CPLD-based method for fixed-frequency phase locking of a spin-induced excitation signal, which utilizes a DSP and a CPLD to generate a programmable fixed-frequency discontinuous spin-induced excitation signal based on communication of the CPLD and a DA chip; then through reasonable timing design to 4 control trigger signals, including: the sampling time T1, the excitation signal starting and resetting signal T2, the programmable phase-locked AD analog-to-digital conversion signal T3 and the external trigger DSP signal T4 of the control system enable the AD to synchronously start the phase-locked signal and fix the frequency to externally trigger the interruption of the DSP to perform the rotation demodulation, thereby achieving the purposes of fixing the frequency phase-locked excitation signal of the system and resolving the rotation angle.
As shown in fig. 1, which is a structural block diagram of a rotary demodulation method, a logic macro unit of a CPLD constructs y=asinx discrete function points, and the discrete function points communicate with a DA chip SPI to transmit data, and a programmable constant-frequency sine signal is output through a direct-isolation amplification processing circuit and is operated by an inverse amplification circuit to generate a cosine signal. Through AD reasonable time sequence acquisition, the purpose of accurate demodulation of the rotary soft part is achieved.
As shown in fig. 4, according to the sampling theorem of the DSP to the control system, the sampling time is set to T1, and T1 is used as a reference standard of the entire control system. For an orderly control system, the frequencies of T1, T2, T3 and T4 are equal, and the relative fixed phases are locked. Wherein the rising edge of T2 is used as the excitation start signal, and a sinusoidal signal y=asinx is generated, and the falling edge is used as the reset signal of the excitation signal. Through the phase programmable T3, the phase programmable AD is locked, and the section of the AD conversion section, namely the oversampling time Deltat set by the AD chip, falls on the wave peak section of the excitation signal, so that the acquisition rotation precision is improved. After AD acquisition is completed, starting up T4, and externally triggering the DSP to interrupt demodulation of the rotation angle, thereby completing fixed-frequency phase locking of excitation signals in one period and software demodulation of the current rotation angle.
Specifically, the hardware of the method comprises a floating point type DSP28335 of TI company, a CPLD EPM1270T144I5 of ALTERA company, an AD, DA chip, an operational amplifier and the like; the specific implementation steps are as follows:
1) According to the illustration of FIG. 1, the circuit design is performed by using the connection schematic diagram of DSP and CPLD hardware in the servo control system, and at the same time, the top module is designed according to the CPLD time sequence illustrated in FIG. 2.
2) According to the design shown in fig. 2, the timings of T1, T2, T3 and T4 output by the top module meet the simulation timing requirement of fig. 3, wherein the SPI output pair of the SinX module in fig. 2 is represented by an application analog quantity for the purpose of digital quantity visualization, as shown in fig. 4.
The CPLD top layer communication module comprises three sub-modules: fixed frequency design submodule DingPin, AD start submodule AD_QD and sine signal module SinX. The fixed frequency design sub-module DingPin designs sampling time T1 according to the sampling theorem of the control system, and uses T1 as a reference standard of the whole control system. Simultaneously generating a starting signal T4 of an external trigger DSP, which is used for triggering the DSP to perform software calculation on the acquired data after rotation transformation; t2 of the AD start submodule ad_qd is used to start the generation of the excitation signal and reset the zero function. The phase programmable T3 locks the AD analog-digital conversion interval section to be set on the AD chip to be over-sampling time Deltat so as to improve the precision of acquisition rotation, and the specific time sequence phase of the time sequence signal is shown in figures 3 and 4. The sine signal module SinX designs SPI time sequence communicated with the DA chip, constructs Y=ASinX digital quantity, outputs analog sine signals through DA, and the starting and resetting signals are controlled at T2.
3) After the excitation sinusoidal signals are output through the DA chip, the excitation sinusoidal signals are processed through the blocking amplifying circuit to generate amplitude requirements required by rotation transformation, the purposes of the required excitation signals ASinX and ACosX are achieved, and the driving capability of the excitation signals and the accuracy of the system are improved.
4) The negative signals-KSinX and-KCosX fed back by rotation are connected with GND, the positive feedback signals +KSinX and +KCosX are connected with AD acquisition channels 1 and 2, and the current angle is obtained by performing software arctangent algorithm demodulation through a DSP.
Through the reasonable time sequence and circuit design, the fixed frequency phase locking of the rotation exciting signal in the servo control system can be realized, and the DSP is triggered to demodulate the rotation angle.
The invention designs a top-layer time sequence design module based on CPLD to construct Y=ASinX digital function quantity to carry out SPI communication with DA, and converts the constant frequency digital sine function into a discontinuous constant frequency analog sine function; the amplitude required by the rotation is generated through the design of the blocking amplifying circuit, so that the precision of the rotation feedback signal is improved; the CPLD-based top layer module generates a sampling time T1, an excitation signal starting and resetting signal T2, a programmable phase-locked AD analog-to-digital conversion signal T3 and an external triggering DSP signal T4 of a control system, and performs time sequence design, and locks an AD analog-to-digital conversion interval of AD, namely an over-sampling time Deltat set by an AD chip, to fall at the crest of the excitation signal so as to improve the precision of acquisition rotation; meanwhile, the external trigger time sequence T4 ensures that the DSP is triggered to perform arctangent resolving of the current rotation signal after AD acquisition is completed, and the reliability of the system is improved. In conclusion, the invention realizes fixed frequency phase locking, improves the precision of system acquisition, reduces the power consumption of an excitation driving circuit, improves the reliability, has strong compatibility and is convenient for the integrated design of a servo system. The technical problems that an excitation signal generating circuit in the conventional servo circuit is complex, excitation signals are continuous and uncontrollable, acquisition accuracy is poor, cost is high, and integrated design is inconvenient are solved.
In summary, the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (1)
1. The CPLD-based method for frequency-fixed phase locking of the rotary excitation signal is characterized by comprising a DSP, CPLD, DA acquisition chip, a DC blocking and amplifying circuit and an AD acquisition chip, wherein peripheral equipment is a rotary transformer;
the CPLD is used for generating discrete function points of the excitation signals; meanwhile, generating 4 trigger signals T1-T4 with the same frequency; wherein, T1 is the sampling signal of the control system, T2 is the excitation signal start and reset signal, wherein, the rising edge of T2 is used as the excitation start signal, and the falling edge is used as the reset signal of the excitation signal; t3 is an AD phase-locked conversion signal, and the oversampling time of the locking AD is positioned in the wave peak section of the excitation signal through phase programming; t4 is an external trigger DSP signal, and is used for triggering the DSP to interrupt the demodulation of the rotation angle after the AD acquisition is completed;
the DA acquisition chip acquires an excitation signal generated by the CPLD under the triggering of a T2 signal, converts the excitation signal into an analog quantity, and sends the analog quantity to the DC blocking and amplifying circuit, and sends the analog quantity to the rotary transformer after the DC blocking and amplifying circuit;
the rotary transformer works according to the received excitation signal;
the AD acquisition chip acquires the rotation angle of the rotation transformer under the triggering of the T3 signal, converts the rotation angle into digital quantity and sends the digital quantity to the DSP;
the DSP generates an interrupt under the triggering of the T4 signal, and demodulates the rotation angle sent by the AD acquisition chip.
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