CN113890425A - High-speed high-precision servo controller realized by FPGA and DSP - Google Patents
High-speed high-precision servo controller realized by FPGA and DSP Download PDFInfo
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- CN113890425A CN113890425A CN202111284326.8A CN202111284326A CN113890425A CN 113890425 A CN113890425 A CN 113890425A CN 202111284326 A CN202111284326 A CN 202111284326A CN 113890425 A CN113890425 A CN 113890425A
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- fpga
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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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
- H02P21/22—Current control, e.g. using a current control loop
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/28—Arrangements for controlling current
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention relates to the field of motor controllers, in particular to a high-speed and high-precision servo controller realized by FPGA and DSP, which comprises an FPGA processor, a DSP processor, a rotary transformer decoder, two excitation drive circuits, a current acquisition circuit, an analog-to-digital converter and a motor control circuit, wherein the FPGA processor is connected with the DSP processor through a bus; the FPGA processor acquires the angle position and the current of the servo motor through a rotary transformer decoder and an excitation driving circuit, simultaneously, the FPGA processor drives an IGBT to control the current and the voltage on a servo motor terminal through a PWM signal and an optocoupler according to the position of a rotor, and a DSP realizes a control algorithm of torque, rotating speed and position by generating an SVPWM and current loop control algorithm in the FPGA; thereby realizing the accurate control of the servo motor. The servo controller has better reliability and higher response speed.
Description
Technical Field
The invention relates to the field of motor controllers, in particular to a high-speed high-precision servo controller realized by FPGA and DSP.
Background
Brushless dc motors employ semiconductor switching devices to effect electronic commutation, i.e., electronic switching devices replace conventional contact commutators and brushes. The device has the advantages of high reliability, no reversing spark, low mechanical noise and the like, and is widely applied to high-grade recording seats, video recorders, electronic instruments and automatic office equipment.
The existing brushless motor controller has low control precision and cannot control the motor action with high precision.
Disclosure of Invention
In view of this, the present invention provides a high-speed and high-precision servo controller implemented by FPGA and DSP, which can perform high-precision control on a brushless motor by using the FPGA, the DSP and a resolver decoder.
The FPGA + DSP servo controller for realizing high speed and high precision comprises an FPGA processor, a DSP processor, a rotary transformer decoder, two excitation drive circuits, a current acquisition circuit, an analog-to-digital converter and a motor control circuit;
the excitation signal output end of the rotary transformer decoder is connected with the input end of the excitation driving circuit, the data port of the rotary transformer decoder is connected with the FPGA processor, the differential rotary signal input end of the rotary transformer decoder is connected with the end part of the stator winding, the stator winding is coupled with the primary winding arranged on the motor rotor, and the two ends of the primary winding are respectively connected with the output ends of the two excitation driving circuits;
the acquisition end of the current acquisition circuit is connected to a terminal of the motor and used for acquiring terminal current;
the output end of the current acquisition circuit is connected with the FPGA processor through an analog-to-digital converter, the motor control circuit is connected with the FPGA processor and a terminal of the motor, and the motor control circuit is used for controlling the size and the phase of an electric signal on the terminal of the motor;
the DSP processor is connected with the FPGA processor and is used for being connected with an external device.
Further, the excitation driving circuit comprises an amplifying circuit and a push-pull circuit which are connected in sequence; the amplifying circuit comprises an operational amplifier, the inverting input end of the operational amplifier is connected with the excitation signal output end of the rotary transformer decoder, and the non-inverting input end of the operational amplifier is connected with an external electric signal; the output end of the operational amplifier is connected with the input end of the push-pull circuit, and the output end of the push-pull circuit is connected with the terminal of the primary winding.
Furthermore, the current acquisition circuit comprises two current sensors and one acquisition circuit, and the two current sensors and the acquisition circuit respectively acquire current signals of three terminals of the motor.
Further, the motor control circuit comprises a three-way optical coupler, a control end of the optical coupler is connected with the FPGA processor, and an output end of the optical coupler is arranged on a circuit, connected with a power supply, of a terminal of the motor as a switch.
And the power supply circuit outputs matched electric signals to the FPGA processor, the DSP processor, the rotary transformer decoder, the two-way excitation driving circuit, the current acquisition circuit, the analog-to-digital converter, the motor control circuit and the motor.
Furthermore, a motor vector control algorithm is integrated in the FPGA processor, a torque, rotating speed and position control algorithm of the servo motor is integrated in the DSP processor, and the FOC algorithm of the FPGA has an independent current loop, so that the motor or the controller is prevented from being damaged due to overload operation.
The invention has the beneficial effects that: the FPGA and the DSP realize a high-speed high-precision servo controller, the FPGA processor acquires the position of a rotor in the brushless motor through a rotary transformer decoder and an excitation driving circuit, meanwhile, the FPGA processor drives an IGBT to control the current and the voltage on a motor terminal through a PWM signal and an optocoupler according to the position of the rotor, and the DSP realizes a control algorithm of torque, rotating speed and position by generating an SVPWM and current loop control algorithm in the FPGA; thereby realizing the accurate control of the servo motor. The servo controller has better reliability and higher response speed.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required 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 application and therefore should not be considered as limiting the scope, and that for a person skilled in the art, other relevant drawings can be obtained from the drawings without inventive effort:
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a circuit diagram of a resolver decoder of the present invention;
FIG. 3 is a circuit diagram of the excitation drive circuit of the present invention;
FIG. 4 is a circuit diagram of an analog-to-digital converter of the present invention;
FIG. 5 is a circuit diagram of the acquisition of a two-way current sensor of the present invention;
FIG. 6 is a circuit diagram of an acquisition circuit of the present invention;
fig. 7 is a circuit diagram of a motor control circuit of the present invention.
Detailed Description
As shown in fig. 1-7: the FPGA + DSP servo controller for realizing high speed and high precision comprises an FPGA processor, a DSP processor, a rotary transformer decoder, two excitation drive circuits, a current acquisition circuit, an analog-to-digital converter and a motor control circuit; the FPGA processor is internally integrated with a motor vector control algorithm, the DSP processor is internally integrated with a torque, rotating speed and position control algorithm of the servo motor, and the FOC algorithm of the FPGA has an independent current loop, so that the motor or the controller is prevented from being damaged due to overload operation.
Excitation signal output terminals EXC and EXC of the rotary transformer decoder
Connected to the input terminals of the excitation driver circuit (A _ R1_ OUT and A _ R2_ OUT), the data ports DB0-DB15 of the rotary encoder and the FPGThe A processor is connected, four differential rotation signal input ends (negative sine analog input SINLO, positive sine analog input SIN, negative cosine analog input COSLO and positive cosine analog input COS) of the rotary transformer decoder are connected with the end parts of stator windings, the stator windings are coupled with primary windings arranged on a motor rotor, and two ends of the primary windings are respectively connected with output ends (PAOUT + and PAOUT-) of two excitation drive circuits;
the principle of the rotary transformer decoder is that when a primary winding is excited by alternating voltage with a certain frequency, the voltage amplitude of a stator winding and a rotor rotation angle form a sine function relationship and a cosine function relationship, or a certain proportional relationship is kept, or a linear relationship is formed between the voltage amplitude and the rotation angle within a certain rotation angle range. It is mainly used for coordinate transformation, trigonometric operation and angle data transmission, and also can be used in angle-digital conversion equipment as two-phase shifter. The rotary position of the motor rotor can be accurately sent to the FPGA processor by using the rotary transformer decoder;
the collection end of the current collection circuit is connected to a terminal of the motor and used for collecting terminal current, specifically, the current collection circuit comprises two current sensors and one collection circuit, and the two current sensors and the collection circuit respectively collect current signals of three terminals of the motor.
The output end of the current acquisition circuit is connected with the FPGA processor through an analog-to-digital converter, the motor control circuit is connected with the FPGA processor and a terminal of the motor, and the motor control circuit is used for controlling the size and the phase of an electric signal on the terminal of the motor;
the DSP processor is connected with the FPGA processor and is used for being connected with an external device; the DSP + FPGA system has the greatest advantages of flexible structure, strong universality and suitability for modular design, so that the algorithm efficiency can be improved; meanwhile, the development period of the device is short, the system is easy to maintain and expand, and the device is suitable for processing real-time signals; the core of the DSP + FPGA system comprises a DSP chip and a programmable FPGA device component, and in the embodiment, the DSP processor is connected with the RS422 data interface, so that an external host can perform data interaction with the DSP + FPGA system.
Specifically in this embodiment, the excitation drive circuit includes an amplification circuit and a push-pull circuit connected in this order; the amplifying circuit comprises an operational amplifier, the inverting input end of the operational amplifier is connected with the excitation signal output end of the rotary transformer decoder, and the non-inverting input end of the operational amplifier is connected with an external electric signal; the output end of the operational amplifier is connected with the input end of the push-pull circuit, and the output end of the push-pull circuit is connected with the terminal of the primary winding.
In this embodiment, the motor control circuit specifically includes a three-way optical coupler, a control end of the optical coupler is connected to the FPGA processor, and an output end of the optical coupler is set as a switch on a line connecting a terminal of the motor and the power supply. And controlling the output voltage and current of the servo motor.
In this embodiment, the power supply circuit further includes a power supply circuit, where the power supply circuit outputs the matched electrical signal to the FPGA processor, the DSP processor, the resolver-to-decoder, the two-path excitation driving circuit, the current collecting circuit, the analog-to-digital converter, the motor control circuit, and the motor.
In summary, the FPGA and the DSP realize the high-speed high-precision servo controller, the FPGA processor acquires the position and the phase current of the servo motor through the rotary transformer decoder and the excitation driving circuit, meanwhile, the FPGA processor controls the IGBT through the PWM signal and the optical coupler according to the position of the servo motor to achieve the phase current and voltage control of the servo motor, and the DSP realizes the control algorithm of the torque, the rotating speed and the position by generating the SVPWM and current loop control algorithm in the FPGA; thereby realizing the accurate control of the servo motor. The servo controller has better reliability and higher response speed.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (6)
- FPGA + DSP realizes high-speed high accuracy servo controller, its characterized in that: the system comprises an FPGA processor, a DSP processor, a rotary transformer decoder, two excitation driving circuits, a current acquisition circuit, an analog-to-digital converter and a motor control circuit;the excitation signal output end of the rotary transformer decoder is connected with the input end of the excitation driving circuit, the data port of the rotary transformer decoder is connected with the FPGA processor, the differential rotary signal input end of the rotary transformer decoder is connected with the end part of the stator winding, the stator winding is coupled with the primary winding arranged on the motor rotor, and the two ends of the primary winding are respectively connected with the output ends of the two excitation driving circuits;the acquisition end of the current acquisition circuit is connected to a terminal of the motor and used for acquiring terminal current;the output end of the current acquisition circuit is connected with the FPGA processor through an analog-to-digital converter, the motor control circuit is connected with the FPGA processor and a terminal of the motor, and the motor control circuit is used for controlling the size and the phase of an electric signal on the terminal of the motor;the DSP processor is connected with the FPGA processor and is used for being connected with an external device.
- 2. The FPGA + DSP implementation high-speed high-precision servo controller of claim 1, characterized in that: the excitation driving circuit comprises an amplifying circuit and a push-pull circuit which are connected in sequence; the amplifying circuit comprises an operational amplifier, the inverting input end of the operational amplifier is connected with the excitation signal output end of the rotary transformer decoder, and the non-inverting input end of the operational amplifier is connected with an external electric signal; the output end of the operational amplifier is connected with the input end of the push-pull circuit, and the output end of the push-pull circuit is connected with the terminal of the primary winding.
- 3. The FPGA + DSP implementation high-speed high-precision servo controller of claim 1, characterized in that: the current acquisition circuit comprises two current sensors and one acquisition circuit, and the two current sensors and the acquisition circuit respectively acquire current signals of three terminals of the motor.
- 4. The FPGA + DSP implementation high-speed high-precision servo controller of claim 1, characterized in that: the motor control circuit comprises three optical couplers, the control end of each optical coupler is connected with the FPGA processor, and the output end of each optical coupler is arranged on a circuit, connected with a power supply, of a terminal of the motor as a switch.
- 5. The FPGA + DSP implementation high-speed high-precision servo controller of claim 1, characterized in that: the power circuit outputs matched electric signals to the FPGA processor, the DSP processor, the rotary transformer decoder, the two-path excitation driving circuit, the current acquisition circuit, the analog-to-digital converter, the motor control circuit and the motor.
- 6. The FPGA + DSP implementation high-speed high-precision servo controller of claim 1, characterized in that: the FPGA processor is internally integrated with a motor vector control algorithm, the DSP processor is internally integrated with a torque, rotating speed and position control algorithm of a servo motor, and the FOC algorithm of the FPGA has an independent current loop, so that the motor or the controller is prevented from being damaged due to overload operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111284326.8A CN113890425A (en) | 2021-11-01 | 2021-11-01 | High-speed high-precision servo controller realized by FPGA and DSP |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111284326.8A CN113890425A (en) | 2021-11-01 | 2021-11-01 | High-speed high-precision servo controller realized by FPGA and DSP |
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| CN113890425A true CN113890425A (en) | 2022-01-04 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114679101A (en) * | 2022-04-02 | 2022-06-28 | 贵州航天林泉电机有限公司苏州分公司 | Marine revolving stage motor servo driver circuit and driver based on become soon |
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2021
- 2021-11-01 CN CN202111284326.8A patent/CN113890425A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114679101A (en) * | 2022-04-02 | 2022-06-28 | 贵州航天林泉电机有限公司苏州分公司 | Marine revolving stage motor servo driver circuit and driver based on become soon |
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