CN112953336A - SoC-based high-power-density small-sized driving and controlling integrated device - Google Patents
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- 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
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Abstract
The invention discloses a high-power-density small-sized driving and controlling integrated device based on a system on chip (SoC). The device comprises a control circuit, a power circuit, a current acquisition circuit, an interface circuit and an angle measurement circuit; the control circuit is configured into a single chip SoC integrated controller, and the controller is configured with a logic control side and a servo control side; the logic control side provides at least one driving signal, and the power circuit drives an alternating current motor according to the driving signal; the current acquisition circuit acquires winding current of the alternating current motor and feeds the winding current back to the logic control side; the angle measuring circuit acquires an angle measuring signal of the alternating current motor and sends the angle measuring signal to the logic control side through the interface circuit; the servo control side is configured with control parameters of the AC motor servo control; and the logic control side adjusts the driving signal according to the winding current, the angle measuring signal and the control parameter. The device ensures the theoretical high output power density of the device and optimizes the anti-interference capability of the whole device while selecting the micro device for packaging.
Description
Technical Field
The invention relates to the technical field of servo drive control, in particular to a high-power-density small-sized drive and control integrated device based on an SoC (system on a chip).
Background
With the development of the optoelectronic device towards light weight, the requirements for structural design and single board design are higher and higher when a complete optoelectronic system is integrated in the limited physical space of the optoelectronic device.
The servo system is used as an essential core component in the photoelectric equipment, the improvement of the miniaturization and lightweight degree of a servo motor driver has important significance for reducing the size and weight of the whole machine, and the key of design is to obtain larger power output in a limited space, namely, the servo motor driver has high power density.
With the development of an integrated chip technology, a traditional distributed control scheme of DSP + FPGA in the field of high-performance servo control is developed towards a direction that a single-chip SoC is used as a main control scheme, Zynq-7000 proposed by Xilinx company is a high-performance SoC (System on chip) chip, PL (logic) and PS (ARM) are integrated on a chip, wherein a PL side can independently complete a high-speed FOC algorithm, hardware acceleration of the traditional FOC algorithm is realized, transient current of a smooth motor is smoothed, and the bandwidth and response speed of a control loop are improved; by means of strong operation performance of the PS side, the multi-core ARM can complete a complex advanced control algorithm, an embedded Linux operating system can be carried, a servo control system software platform is designed, flexible parameter configuration is carried out on the servo control system, a data observation function is matched, and the man-machine interaction intelligent degree of servo control debugging is greatly improved.
The micro-miniature high-power-density servo motor driver has the advantages of small size, light weight, flexible deployment, low cost and high reliability, so that the development of the high-performance micro-miniature high-power-density servo controller based on the SoC has very important significance.
Disclosure of Invention
The embodiment of the invention at least discloses a high-power-density small-sized driving and controlling integrated device based on SoC. The device ensures the theoretical high output power density of the device and optimizes the anti-interference capability of the whole device while selecting the micro device for packaging.
In order to achieve the above, the apparatus in this embodiment includes a control circuit, a power circuit, a current collecting circuit, an interface circuit, and an angle measuring circuit;
the control circuit is configured as a monolithic SoC integrated controller, the controller is configured with a logic control side and a servo control side, and the logic control side and the servo control side are interacted through a high-speed serial bus;
the logic control side provides at least one driving signal, and the power circuit drives an alternating current motor according to the driving signal;
the current acquisition circuit acquires winding current of the alternating current motor and feeds the winding current back to the logic control side;
the angle measuring circuit acquires an angle measuring signal of the alternating current motor and sends the angle measuring signal to the logic control side through the interface circuit;
the servo control side is configured with at least one control parameter for servo control of the alternating current motor;
and the logic control side adjusts the driving signal according to the winding current, the angle measuring signal and at least one control parameter.
In some embodiments of the present disclosure of the invention,
the power circuit comprises an isolated half-bridge bootstrap drive circuit and a three-phase inverter bridge circuit built by OptiMOS discrete devices;
the isolated half-bridge bootstrap drive circuit is configured to receive a drive signal and generate a control signal for the three-phase inverter bridge circuit according to the drive signal, and the three-phase inverter bridge circuit adjusts the working state of the alternating current motor according to the control signal.
In some embodiments of the present disclosure of the invention,
the current acquisition circuit comprises an ADC analog-to-digital conversion circuit and a Hall current sensor circuit;
the Hall current sensor circuit generates an analog signal according to the winding current;
the ADC analog-to-digital conversion circuit converts the analog signal into a digital signal in an analog-to-digital conversion mode, feeds the digital signal back to the logic control side, and the logic control side adjusts the driving signal according to the digital signal.
In some embodiments of the present disclosure of the invention,
the interface circuit comprises a first serial port circuit and a second serial port circuit;
the logic control side interacts with the outside through the first serial port circuit;
the logic control side acquires an angle measurement signal fed back by the angle measurement circuit through the second serial port circuit;
in some embodiments of the present disclosure of the invention,
the interface circuit includes a power supply circuit;
the power supply circuit supplies power to the first serial port circuit, the second serial port circuit, the control circuit, the power circuit, the current acquisition circuit and the angle measurement circuit through an external power supply.
In some embodiments of the present disclosure of the invention,
and the logic control side adjusts and realizes an FOC control algorithm according to the winding current, the angle measuring signal and at least one control parameter, and adjusts the driving signal according to the executed FOC control algorithm.
In some embodiments of the present disclosure of the invention,
and the logic control side executes an SVPWM (space vector pulse width modulation) algorithm based on common-mode component injection, and the driving signal of the SPWM is modulated into SVPWM.
In view of the above, other features and advantages of the disclosed exemplary embodiments will become apparent from the following detailed description of the disclosed exemplary embodiments, which proceeds with reference to the accompanying drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a system diagram of an apparatus according to an embodiment;
FIG. 2 is a circuit configuration diagram of a power circuit in an embodiment;
FIG. 3 is a schematic diagram of dead zone generation logic in an embodiment;
FIG. 4 is a circuit configuration diagram of a current acquisition circuit in an embodiment;
fig. 5 is a structural diagram of the RS422 serial port circuit 1 in the embodiment;
FIG. 6 is a structural view of a driving power supply in the embodiment;
FIG. 7 is a block diagram of a power supply circuit in the embodiment;
FIG. 8 is a schematic block diagram of an embodiment in which the logic control side implements the FOC control algorithm;
FIG. 9 is a schematic diagram of SVPWM modulation at the logic control side in the embodiment;
fig. 10 is a structural layout diagram of a power circuit in an embodiment.
The attached drawings are marked as follows:
1. a control circuit; 1.1, servo control side; 1.2, a logic control side; 2. a power circuit; 2.1, isolating a half-bridge bootstrap driving circuit; 2.2, a three-phase inverter bridge circuit; 3. a current collection circuit; 3.1, an ADC analog-to-digital conversion circuit; 3.2 hall current sensor circuit; 4. an interface circuit; 4.1, RS422 serial port circuit 1; 4.2, a power supply circuit; 4.3, RS422 serial port circuit 2; 5. an angle measuring circuit.
Detailed Description
Reference will now be made in detail to the embodiments, examples of which are illustrated in the accompanying drawings. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of various described embodiments. It will be apparent, however, to one skilled in the art that the various described embodiments may be practiced without these specific details. In other instances, well-known methods, procedures, components, circuits, and networks have not been described in detail as not to unnecessarily obscure aspects of the embodiments.
The embodiment discloses a high-power-density small-sized driving and controlling integrated device based on SoC.
Referring to fig. 1, the apparatus in this embodiment includes a control circuit, a power circuit, a current collecting circuit, an interface circuit, and an angle measuring circuit.
The control circuit is a core part of the high-power servo drive controller, and is specifically configured as a monolithic SoC integrated controller. The control circuit consists of a logic control side and a servo control side. The logic control side and the servo control side are interacted through an AXI high-speed serial bus. The logic control side provides a PWM driving signal to the power circuit. The power circuit controls the working state of an alternating current motor according to the PWM driving signal.
Meanwhile, the current acquisition circuit in fig. 1 acquires the winding current of the alternating current motor, and feeds back the winding current to the logic control side. The angle measuring circuit obtains an angle measuring signal of the alternating current motor and sends the angle measuring signal to the logic control side through the interface circuit. The servo control side is configured with a plurality of control parameters for executing servo control on the alternating current motor; the logic control side adjusts the driving signal according to the winding current, the angle measuring signal and a plurality of control parameters.
Through the technical scheme, the high-power-density small-sized driving and controlling integrated device based on the SoC can realize low-delay and high-speed current loop algorithms such as coordinate transformation, AD sampling, angle measurement decoding and sine cosine value calculation, current loop PI control algorithm, SVPWM modulation algorithm and the like on a logic control side; algorithms with low speed requirements such as a position loop, a speed loop and the like can be realized on the servo control side; the device of the present embodiment can have a larger bandwidth under the coordination of the logic control side and the servo control side.
Specifically, the controller in this embodiment selects Zynq-7000 series chip XC7Z010-2CLG225 from Xilinx corporation. The interface logic, the vector control algorithm and the like are realized on a logic control side, such as ADC SPI driving, encoder decoding, Park transformation, Clark transformation, Park inverse transformation, Clark inverse transformation, SVPWM, a current loop PID algorithm, rotating speed calculation and the like. Meanwhile, other functions of servo control of the alternating current motor, interaction with an upper computer and the like are realized at a servo control end.
Preferably, it is considered that the apparatus of the present embodiment integrates both weak current control and strong current drive circuit configurations. In this embodiment, it is necessary to implement electrical isolation between the weak point control and the strong current driving circuit structure, otherwise, the strong current driving portion may cause destructive interference to the circuit of the weak current control portion, the control digital signal may also cause a protection error signal to the driving protection circuit,
therefore, the power circuit in fig. 1 includes an isolated half-bridge bootstrap driving circuit and a three-phase inverter bridge circuit built by OptiMOS discrete devices. In this embodiment, the isolated half-bridge bootstrap driving circuit receives the PWM driving signal, and then generates a control signal for the three-phase inverter bridge circuit according to the PWM driving signal, and the three-phase inverter bridge circuit adjusts the operating state of the ac motor according to the control signal.
FIG. 2 shows that the isolated half-bridge bootstrap driver circuit is implemented by using an Ying flying EiceDRIVERTMAn isolated driver chip 2EDF7235K of the 2Edi series, having dimensions 5mm by 5 mm. The 2EDF7235K is a 2-channel isolation signal chip, the source current capacity of the driving chip is 4A, the sink current capacity of the driving chip is 8A, and the highest frequency can reach 10 MHz.
Further, in this embodiment, the 2EDF7235K uses a coreless transformer technology of the british flying company to realize electrical isolation; the 2EDF7235K inputs PWM driving signals to the MOSFETs, one path of 2EDF7235K can simultaneously drive a half-bridge chip consisting of two NMOSFETs with low on-resistance by a bootstrap driving principle, and the three half-bridges only need one path of isolation power supply.
Meanwhile, in order to respectively adjust the switching speed and the switching loss of the MOSFET in the three-phase inverter bridge circuit, the on-circuit and the off-circuit of the MOSFET are isolated by a diode, the switching speed can be respectively adjusted by adjusting the charging resistor and the discharging resistor, the increase of the off-loss caused by the increase of the charging resistor is avoided, the EMI is reduced, and the power partial conversion efficiency is improved.
Through the technical scheme, the controller and the power part of the three-phase inverter bridge are completely electrically isolated, the PWM signal output by the controller is electrically-magnetically-electrically isolated through the driving chip, the obtained current signal is electrically isolated through the Hall effect, the interference of a high-power partial circuit to a low-power controller is greatly reduced, and the stability and the anti-interference capability of the whole device are improved.
Referring to fig. 3, in the embodiment, a dead time setting resistor is disposed at the side of EDF7235K of driver chip 2 for configuring dead time, and a dead time setting module is programmed at the logic control side for making the dead time setting more flexible. When the dead time setting module is executed, the dead time setting module detects the rising edge of the input PWM signal, enables the counter technology at the rising edge, compares the value of the counter with the dead time setting value, and obtains two paths of complementary PWM signals, namely PWMA and PWMB, after the logical value obtained by comparison is compared with the input original PWM signal and the inverted original PWM signal.
Preferably, the controller in this embodiment needs to know the magnitude of the actual current in the motor winding accurately in real time, so as to implement the current closed-loop control and the current protection circuit. Therefore, the current collecting circuit in this embodiment includes an ADC analog-to-digital conversion circuit and a hall current sensor circuit.
The Hall current sensor circuit converts a magnetic signal generated by winding current into an analog signal representing a voltage value according to a Hall principle by utilizing the Hall effect of the Hall sensor, can realize signal isolation, and has small electrical interference and higher precision. Meanwhile, the ADC analog-to-digital conversion circuit converts the analog signal into a digital signal and feeds the digital signal back to the logic control end.
Specifically, the hall current sensor is ACS724, the maximum detection current range is ± 20A, the hall current sensor is biased by 2.5V, outputs direct current voltage, and the sensitivity is 0.1V/a, so that when the input current is ± 20A, the corresponding voltage output is 0.5-4.5V. After passing through the hall sensor, the current is converted to a voltage signal proportional to the current signal and electrically isolated from the input.
Current sensor output voltage signal passes through the voltage follower, and low pass filter gives A/D conversion chip in addition, guarantees to realize impedance matching, and the noise attenuation, operational amplifier select OPA2340 rail to rail high accuracy fortune to be put, through OPA2340 can be lossless during transmitting the ADC of back stage, improve current detection's precision.
Referring to fig. 4, the ADC chip adopts ADS8353 of TI company, the ADS8353 is 2-channel synchronous sampling, and 16-bit ADC, the voltage input range can reach 5V, which can meet the precision requirement of sampling two-phase current at the same time.
Preferably, the interface circuit in this embodiment includes an RS422 serial port circuit 1, an RS422 serial port circuit 2, and a power supply circuit. The interface circuit essentially introduces the serial port line and the power input line through a J30J-21 core connector for data interaction and circuit power.
Specifically, in this embodiment, the logic control terminal communicates with the upper computer through the RS422 serial port circuit 1, so as to realize interaction between the servo control terminal and the upper computer. Meanwhile, the logic control end obtains angle measurement signals fed back by the angle measurement circuit through the RS422 serial port circuit 1, and the angle measurement signals comprise a pitch axis angle measurement value, an azimuth axis angle measurement value and the like. Fig. 5 shows that both the RS422 serial circuit 1 and the RS422 serial circuit 2 select the serial chip MAX3490ESA +.
In addition, in the embodiment, the power supply circuit converts the 12V input direct current into a 15V isolated driving voltage required by an isolated half-bridge driving chip in the power circuit, and converts the 12V into a 5V analog circuit power supply voltage to supply power to the ADC and the hall current sensor.
Referring to fig. 6, a drive power supply in the power supply circuit uses an LTM8067 isolated power supply chip of the linear lter company, the LTM8067 is a flyback micro-power module, and a transformer, a controller, a switching tube and other auxiliary devices are integrated on the chip, so that stable isolated voltage output can be realized only by an external filter capacitor and an output voltage configuration resistor, and the isolated voltage output is used as a drive power supply of the MOSFET.
Fig. 7 shows that the hall current sensor, ADC and amplifier buffer circuit all use an analog 5V supply VCC _5V, referenced to ground, analog ground AGND. The analog 5V is obtained by input 12V after voltage reduction. A voltage reduction and stabilization source with low output ripple noise is selected. The integrated inductive buck converter is selected from TPS82140 of TI company.
Meanwhile, the angle measuring circuit in the embodiment is a circular grating encoder, the circular grating encoder is connected with a serial port chip interface through a BISS protocol to complete a level conversion function, a control signal sent by a logic control side is converted into a differential RS422 signal which can be identified by the circular grating encoder through the serial port chip to realize interaction, and a logic control end acquires angle measuring data through interaction to further realize a vector control algorithm of the motor.
Further, referring to fig. 8, the logic control side of the present embodiment implements the FOC control algorithm. In the embodiment, the logic control side acquires angle measurement data and calculates sine and cosine values of the angle measurement; meanwhile, the output of the current loop controller is adjusted by combining Clark conversion and PARK conversion. And the logic control side carries out PARK inverse transformation and Clark inverse transformation according to the output of the current loop control and the sine and cosine values of the angle measurement, and then modulates an SVPWM driving signal for controlling the alternating current motor.
The logic control side in this embodiment can implement the FOC control algorithm and generate the IP core for reuse in other product designs. The design of the IP core is based on the principle of an IQMATH library similar to TI fixed-point DSP, four operations of fixed-point decimal can be completed without the help of the IP core of Xilinx, and if the multiplication operation among the fixed-point decimal is realized by using a 32-bit fixed-point decimal multiplier based on Booth algorithm, the consumption of logic resources is greatly saved, and meanwhile, the calculation delay is greatly shortened.
Further, in the embodiment of fig. 9, the logic control side selects the SVPWM modulation algorithm based on the common-mode component injection, so that the computational complexity of the conventional SVPWM algorithm is further simplified, a large number of multiply-add, state judgment and skip logics are abandoned, and the execution time is shortened.
Specifically, in the present embodiment, the SPWM modulation waveform v of the pair of logic control sidesA、vBAnd vCTaking the maximum and minimum envelopes of the positive half cycle and the negative half cycle to obtain a positive valueAfter the arithmetic mean of the half-cycle envelope and the negative half-cycle envelope, i.e. the common-mode component v in fig. 3cmV is to becmInjected into the original SPWM modulation waveform vA、vBAnd vCObtaining equivalent SVPWM modulation waveform vA3、vB3And vC3And further, the SPWM is modulated, so that the whole FOC algorithm can be realized within 200ns, and a high-performance hardware current loop approaching to analog control by digital control is achieved. For example, when the control frequency of 100kHz is adopted, only 2% of the whole control period is occupied, the control frequency of the current loop algorithm can be fully improved, the control bandwidth is further improved, and a servo control system with high dynamic performance is realized; moreover, the IP core in this embodiment has high portability, and is suitable for other FPGA logic platforms of Xilinx corporation.
Through the technical scheme, the whole device in the embodiment adopts a miniature packaging device, the space structure and the board level layout are optimized, the size of the whole servo controller module is 38mm 42mm 20mm, the weight is 35g, the theoretical output power can reach 1000W to the maximum, and the power density is 32W/cm 3.
Referring to fig. 10, the power circuit of the present embodiment further adopts a three-layer isolation mode structure design. The power circuit is placed at the bottommost layer, and meanwhile, a radiator can be installed on the OptiMOS of a three-phase inverter bridge in the power circuit, so that the heat dissipation performance and the driving capability of the device are improved. In addition, the isolation driving chip and the OptiMOS are respectively distributed on the top layer and the bottom layer of the PCB, the driving circuit is perpendicular to the wiring of the power circuit, the coupling between the driving circuit and the power circuit is reduced, meanwhile, the area of the driving circuit is reduced, the large-current noise of the power circuit coupled to the driving circuit is reduced, the ringing phenomenon of an MOSFET in a three-phase inverter bridge in the switching process is also reduced, and therefore the EMI is greatly improved.
As used herein, the terms "comprises," comprising, "and the like are to be construed as open-ended inclusions, i.e.," including, but not limited to. The term "for" should be understood as "at least partially for". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first," "second," and the like may refer to different or the same object. Other explicit and implicit definitions may also be included herein.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A high-power density small-sized driving and controlling integrated device based on SoC is characterized in that,
the device comprises a control circuit, a power circuit, a current acquisition circuit, an interface circuit and an angle measurement circuit;
the control circuit is configured as a monolithic SoC integrated controller, the controller is configured with a logic control side and a servo control side, and the logic control side and the servo control side are interacted through a high-speed serial bus;
the logic control side provides at least one driving signal, and the power circuit drives an alternating current motor according to the driving signal;
the current acquisition circuit acquires winding current of the alternating current motor and feeds the winding current back to the logic control side;
the angle measuring circuit acquires an angle measuring signal of the alternating current motor and sends the angle measuring signal to the logic control side through the interface circuit;
the servo control side is configured with at least one control parameter for servo control of the alternating current motor;
and the logic control side adjusts the driving signal according to the winding current, the angle measuring signal and at least one control parameter.
2. The SoC-based high power density compact actuation integration device of claim 1,
the power circuit comprises an isolated half-bridge bootstrap drive circuit and a three-phase inverter bridge circuit built by OptiMOS discrete devices;
the isolated half-bridge bootstrap drive circuit is configured to receive a drive signal and generate a control signal for the three-phase inverter bridge circuit according to the drive signal, and the three-phase inverter bridge circuit adjusts the working state of the alternating current motor according to the control signal.
3. The SoC-based high power density compact actuation integration device of claim 1,
the current acquisition circuit comprises an ADC analog-to-digital conversion circuit and a Hall current sensor circuit;
the Hall current sensor circuit generates an analog signal according to the winding current;
the ADC analog-to-digital conversion circuit converts the analog signal into a digital signal in an analog-to-digital conversion mode, feeds the digital signal back to the logic control side, and the logic control side adjusts the driving signal according to the digital signal.
4. The SoC-based high power density compact actuation integration device of claim 1,
the interface circuit comprises a first serial port circuit and a second serial port circuit;
the logic control side interacts with the outside through the first serial port circuit;
and the logic control side acquires the angle measurement signal fed back by the angle measurement circuit through the second serial port circuit.
5. The SoC-based high power density compact actuation integration apparatus according to claim 4,
the interface circuit includes a power supply circuit;
the power supply circuit supplies power to the first serial port circuit, the second serial port circuit, the control circuit, the power circuit, the current acquisition circuit and the angle measurement circuit through an external power supply.
6. The SoC-based high power density compact actuation integration device of claim 1,
and the logic control side adjusts and realizes an FOC control algorithm according to the winding current, the angle measuring signal and at least one control parameter, and adjusts the driving signal according to the executed FOC control algorithm.
7. The SoC-based high power density compact actuation integration apparatus according to claim 6,
and the logic control side executes an SVPWM (space vector pulse width modulation) algorithm based on common-mode component injection, and the driving signal of the SPWM is modulated into SVPWM.
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| DE102014208459A1 (en) * | 2013-12-18 | 2015-06-18 | Hyundai Motor Company | METHOD FOR CONTROLLING A DRIVE MOTOR |
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| CN109240191A (en) * | 2018-04-25 | 2019-01-18 | 上海福赛特控制技术有限公司 | The controller and control system of integrated motion control and motor control |
| CN110932647A (en) * | 2019-12-21 | 2020-03-27 | 中国船舶重工集团公司第七一七研究所 | Universal servo drive circuit for high-frequency alternating current and direct current motor |
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2020
- 2020-12-31 CN CN202011625787.2A patent/CN112953336A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE102014208459A1 (en) * | 2013-12-18 | 2015-06-18 | Hyundai Motor Company | METHOD FOR CONTROLLING A DRIVE MOTOR |
| CN107729211A (en) * | 2017-09-30 | 2018-02-23 | 湖北华中光电科技有限公司 | A kind of condition responsive method of MCU system |
| CN109240191A (en) * | 2018-04-25 | 2019-01-18 | 上海福赛特控制技术有限公司 | The controller and control system of integrated motion control and motor control |
| CN110932647A (en) * | 2019-12-21 | 2020-03-27 | 中国船舶重工集团公司第七一七研究所 | Universal servo drive circuit for high-frequency alternating current and direct current motor |
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