CN114024483A - Controller of linear motor transportation system based on FPGA - Google Patents
Controller of linear motor transportation system based on FPGA Download PDFInfo
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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
- H02P25/06—Linear motors
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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
- H02P23/0004—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
- 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
- H02P25/06—Linear motors
- H02P25/064—Linear motors of the synchronous type
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Abstract
The present disclosure relates to a controller of a linear motor transportation system based on an FPGA. The controller comprises an FPGA module, a position detection module, a current detection module and a driving module, wherein the FPGA module is respectively connected with the position detection module, the current detection module and the driving module; the position detection module is used for detecting the position of the rotor to obtain a pulse signal containing rotor position information; the current detection module is used for feeding back a first driving current of the linear motor to the FPGA module; the FPGA module is used for generating a driving pulse according to an expected position, an expected speed, the pulse signal and the first driving current; the driving module is used for generating a second driving current of the linear motor according to the driving pulse. The controller of the linear motor transportation system is designed based on the FPGA, so that the low-power consumption and high-precision control of the linear motor is realized.
Description
Technical Field
The utility model relates to a transportation field especially relates to a linear electric motor transportation system's controller based on FPGA.
Background
With the continuous change of the production requirements of human beings and the gradual change of the social development, the requirements on the precision, the energy consumption, the production efficiency and the like of machine parts are higher and higher. The traditional linear transmission mode of the rotating motor and the ball screw or the gear inevitably has the problems of large mechanical friction, complex structure, low transmission efficiency, poor dynamic performance, limited control precision and the like, and the linear motor has the characteristics of directly generating linear motion, needing no intermediate transmission device, directly converting electric energy into mechanical energy, greatly simplifying the system structure and reducing the transmission loss. The linear motor transmission system can provide a wider range of acceleration and a wider range of operating speed, and has the characteristics of stable operation, high precision and repeatability and the like. The transmission device can well solve the problems of transmission efficiency, reliability and the like, and is low in cost and easy to maintain. The linear motor has higher efficiency and power factor, and in recent years, with the rapid development of permanent magnet materials, the permanent magnet linear synchronous motor has become one of the hot spots in the motor research field, and particularly after high-performance permanent magnet materials neodymium iron boron (NdFeB) appear, the permanent magnet linear synchronous motor has great superiority compared with other high-speed precise systems due to the characteristics of small loss, high force index, high response speed and the like.
The mainstream controllers adopted in the field of linear motor control at the present stage are a Microcontroller (MCU) and a high-performance Digital Signal Processor (DSP), and the MCU has the advantages of high integration level, small volume, good reliability and the like; the DSP has the advantages of high processing speed, powerful computing power, large storage, rich peripheral resources, efficient compiling environment, etc., but with the development of various industries, the motor control system centering on the MCU or the DSP has far failed to meet the requirements of practical applications. For the MCU, the motor control based on the MCU is limited by conditions such as an internal system structure, a calculation function and the like, and an advanced control theory cannot be applied to complete an efficient control algorithm; although a high-performance DSP has advantages in algorithm implementation, peripheral circuits are complex and are easily interfered by the outside world.
Disclosure of Invention
To solve the above technical problem or at least partially solve the above technical problem, the present disclosure provides a controller of a linear motor transportation system based on an FPGA.
The invention provides a controller of a linear motor transportation system based on an FPGA (field programmable gate array), which comprises an FPGA module, a position detection module, a current detection module and a driving module, wherein the FPGA module is respectively connected with the position detection module, the current detection module and the driving module;
the position detection module is used for detecting the position of the rotor to obtain a pulse signal containing rotor position information;
the current detection module is used for feeding back a first driving current of the linear motor to the FPGA module;
the FPGA module is used for generating a driving pulse according to an expected position, an expected speed, the pulse signal and the first driving current;
the driving module is used for generating a second driving current of the linear motor according to the driving pulse.
Optionally, the FPGA module includes a position and speed resolving algorithm unit, a communication unit, a position and speed closed-loop control algorithm unit, a current closed-loop control algorithm unit, and a pulse generation algorithm unit;
the position and speed calculation algorithm unit is used for calculating the actual position and the actual speed of the rotor according to the pulse signals and transmitting the actual position and the actual speed to the position and speed closed-loop control algorithm unit;
the communication unit is used for receiving the expected position and the expected speed sent by the upper computer and transmitting the expected position and the expected speed to the position and speed closed-loop control algorithm unit;
the position and speed closed-loop control algorithm unit is used for determining a reference current according to the expected position, the expected speed, the actual position and the actual speed and transmitting the reference current to the current closed-loop control algorithm unit;
the current closed-loop control algorithm unit is used for determining a driving regulation current according to the reference current and the first driving current and transmitting the driving regulation current to the pulse generation algorithm unit;
the pulse generation algorithm unit is used for generating the driving pulse according to the driving regulation current.
Optionally, the position and velocity calculating algorithm unit includes a displacement accumulator, a counter and the position and velocity calculating algorithm subunit;
the displacement accumulator is used for correcting the displacement once when the pulse signal is received;
the counter is used for counting the pulse signals to obtain a pulse signal counting value;
and the position and speed calculation algorithm subunit is used for calculating the actual position and the actual speed of the rotor according to the pulse signal counting value.
Optionally, the position and speed closed-loop control algorithm unit and/or the current closed-loop control algorithm unit adopt an incremental PID control algorithm.
Optionally, the position and speed closed-loop control algorithm unit and/or the current closed-loop control algorithm unit includes a subtractor, a multiplier, and an adder.
Optionally, the pulse generation algorithm unit includes a frequency divider, a counter, and a comparator;
the frequency divider is used for changing a fundamental frequency signal of a system;
the counter is used for calculating the number of the fundamental frequency signals;
the comparator is used for comparing the driving regulating current with the fundamental frequency signal to generate the driving pulse.
Optionally, the position detection module includes a magnetic grid pulse detection unit, and is configured to detect a magnetic grid pulse signal including the rotor position information, where the magnetic grid pulse signal is the pulse signal.
Optionally, the position detection module further includes a grating pulse detection unit, configured to detect a grating pulse signal containing position information of the mover relative to the stator.
Optionally, the current detection module includes a current sensor, an overcurrent protection signal generation circuit, and a current sensor interface circuit.
Optionally, the driving module includes a driving circuit and a three-phase inverter bridge circuit.
Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages:
compared with the traditional motor control system based on the MCU or the DSP, the controller of the linear motor transportation system based on the FPGA adopted by the embodiment of the disclosure has the advantages that firstly, the FPGA has more enhanced sequential control capability, and the control precision is very high; secondly, because of the high integration level of the FPGA, a plurality of peripheral devices and equipment are omitted, for example, a circuit for generating the PWM signal by the traditional method is complex, but the FPGA utilizes the characteristic of rich resources of the FPGA, does not need a complex external circuit, can be easily realized only by utilizing the internal resources thereof, reduces the interference of external factors and saves the cost; finally, the FPGA internal hardware circuit constructed by the hardware programming language can save a large number of analog devices, and integrates the original circuit board level product into a chip level product, thereby reducing the power consumption, having higher reliability than the DSP software running mode, and shortening the research and development period of the system.
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The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a block diagram of a controller of a linear motor transportation system based on an FPGA according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a controller of a linear motor transportation system based on an FPGA according to an embodiment of the present disclosure;
fig. 3 is a schematic diagram of main hardware functional modules of an FPGA module according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a controller of another FPGA-based linear motor transportation system according to an embodiment of the present disclosure.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, aspects of the present disclosure will be further described below. It should be noted that the embodiments and features of the embodiments of the present disclosure may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways than those described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.
Fig. 1 is a block diagram of a controller of a linear motor transportation system based on an FPGA according to an embodiment of the present disclosure. The controller can be used for driving linear motors with multiple stators and multiple rotors, and is suitable for an automatic control transportation system with low power consumption, high grade degree and high reliability. As shown in fig. 1, the controller includes an FPGA module 11, a position detection module 12, a current detection module 13, and a driving module 14, where the FPGA module 11 is connected to the position detection module 12, the current detection module 13, and the driving module 14, respectively.
The position detection module 12 is configured to detect a position of the mover, and obtain a pulse signal including mover position information; the current detection module 13 is configured to feed back the first driving current of the linear motor to the FPGA module 11; the FPGA module 11 is used for generating a driving pulse according to the expected position, the expected speed, the pulse signal and the first driving current; the driving module 14 is configured to generate a second driving current of the linear motor according to the driving pulse.
With the continuous development and progress of Electronic Design Automation (EDA) technology, a single-chip FPGA can completely realize a complex control algorithm, the FPGA can be a digital circuit carrier, a designer can freely design a digital circuit according to actual requirements, and an FPGA internal hardware circuit constructed by a hardware programming language can save a large number of analog devices and integrate an original circuit board level product into a chip level product. Compared with the traditional MCU or DSP, the FPGA has much higher flexibility, application efficiency, control capability, development period, reliability and maintainability than the MCU and DSP. Therefore, FPGA-based motor controllers are used as a substitute for MCUs and DSPs.
In some embodiments, the FPGA module 11 includes a hardware circuit portion and a control algorithm portion implemented based on hardware programming, the hardware circuit portion is composed of an FPGA main control chip, a corresponding power configuration circuit, a serial communication circuit, and an AD conversion module, and the control algorithm implemented based on hardware programming in the FPGA main control chip includes: a position and velocity solution algorithm, a position and velocity closed-loop control algorithm, a current closed-loop control algorithm, and a pulse generation algorithm. Thus, the FPGA module 11 calculates the actual position and the actual speed of the mover by using a position and speed calculation algorithm based on the pulse signal including the position information of the mover; a serial port communication circuit is adopted to receive the expected position and the expected speed of the rotor sent by the upper computer; calculating a reference current by adopting a position and speed closed-loop control algorithm based on the expected position, the expected speed, the actual position and the actual speed of the rotor; calculating a driving regulation current by adopting a current closed-loop control algorithm based on the reference current and the first driving current fed back by the current detection module 13; based on the drive regulation current, a pulse generation algorithm is employed to generate drive pulses. After that, the driving module 14 generates a driving current required for driving control of the linear motor based on the driving pulse, thereby completing control of the linear motor. In some embodiments, the FPGA master control chip is a clone ii chip of ALTRA corporation, which is model number EP2C5T144C8, the AD conversion module is AD0809, and the driver module is DRV8305 of TI corporation.
Compared with the traditional motor control system based on the MCU or the DSP, the controller of the linear motor transportation system based on the FPGA adopted by the embodiment of the disclosure has the advantages that firstly, the FPGA has more enhanced sequential control capability, and the control precision is very high; secondly, because of the high integration level of the FPGA, a plurality of peripheral devices and equipment are omitted, for example, a circuit for generating the PWM signal by the traditional method is complex, but the FPGA utilizes the characteristic of rich resources of the FPGA, does not need a complex external circuit, can be easily realized only by utilizing the internal resources thereof, reduces the interference of external factors and saves the cost; finally, the FPGA internal hardware circuit constructed by the hardware programming language can save a large number of analog devices, and integrates the original circuit board level product into a chip level product, thereby reducing the power consumption, having higher reliability than the DSP software running mode, and shortening the research and development period of the system.
Based on the above embodiments, correspondingly, in some embodiments, the FPGA module includes a position and speed calculation algorithm unit, a communication unit, a position and speed closed-loop control algorithm unit, a current closed-loop control algorithm unit, and a pulse generation algorithm unit; the position and speed calculation algorithm unit executes a position and speed calculation algorithm, the position and speed closed-loop control algorithm unit executes a position and speed closed-loop control algorithm, the current closed-loop control algorithm unit executes a current closed-loop control algorithm, the pulse generation algorithm unit executes a pulse generation algorithm, and the communication unit can comprise a serial communication circuit.
Fig. 2 is a schematic structural diagram of a controller of a linear motor transportation system based on an FPGA according to an exemplary embodiment of the present disclosure. As shown in fig. 2, the FPGA module 11 includes a position and velocity resolving algorithm unit 111, a communication unit 112, a position and velocity closed-loop control algorithm unit 113, a current closed-loop control algorithm unit 114, and a pulse generating algorithm unit 115. The position and speed calculating algorithm unit 111 is used for calculating the actual position and the actual speed of the mover according to the pulse signal and transmitting the actual position and the actual speed to the position and speed closed-loop control algorithm unit 113; the communication unit 112 is used for receiving the expected position and the expected speed sent by the upper computer and transmitting the expected position and the expected speed to the position and speed closed-loop control algorithm unit 113; the position and speed closed-loop control algorithm unit 113 is used for determining a reference current according to the desired position, the desired speed, the actual position and the actual speed, and transmitting the reference current to the current closed-loop control algorithm unit 114; the current closed-loop control algorithm unit 114 is configured to determine a driving adjustment current according to the reference current and the first driving current, and transmit the driving adjustment current to the pulse generation algorithm unit 115; the pulse generating algorithm unit 115 is used to generate a driving pulse according to the driving adjustment current.
Specifically, the position detection module 12 detects a pulse signal containing mover position information and transmits the pulse signal to the position and speed calculation algorithm unit 111 in the FPGA module 11, so as to obtain an actual position and an actual speed of the mover, and the actual position and the actual speed are used as feedback values of the position and speed closed-loop control algorithm unit 113, the FPGA module 11 obtains an expected speed and an expected position set by an upper computer through the communication unit 112, and the expected speed and the expected position are used as reference values of the position and speed closed-loop control algorithm unit 113, and the position and speed closed-loop control algorithm unit 113 compares the actual position and the actual speed with the expected position and the expected speed to generate a reference current; meanwhile, the current detection module 13 detects a first driving current of the linear motor, and the current detection is mainly used for detecting an armature current and overcurrent protection, the detected first driving current is used as a current feedback value and is input to the current closed-loop control algorithm unit 114, the current closed-loop control algorithm unit 114 compares the first driving current with a reference current to generate a driving regulation current, the output generated driving regulation current is used as an input of the pulse generation algorithm unit 115, so that a driving pulse is output by the pulse generation algorithm unit 115, and the driving pulse generates a driving current required by driving control of the linear motor after passing through the driving module 14. Wherein, the driving pulse may be a PWM pulse.
In some embodiments, fig. 3 shows the main hardware functional modules of the FPGA module as a whole, as shown in fig. 3, in the FPGA module, the position and speed solution algorithm unit includes a displacement accumulator, a counter and a position and speed solution algorithm subunit (a control algorithm implemented based on hardware programming, not shown in the figure); the displacement accumulator is used for correcting the displacement once when receiving the pulse signal; the counter is used for counting the pulse signals to obtain a pulse signal count value; and the position and speed calculating algorithm subunit is used for calculating the actual position and the actual speed of the mover according to the pulse signal counting value.
In the embodiment of the disclosure, a pulse scale is arranged on the magnetic grid ruler of the linear motor at intervals of 2 tau, and a magnetic grid pulse signal is generated every time when the magnetic grid reading head passes through the pulse scale, so that the whole magnetic grid ruler is divided into a plurality of intervals with equal distances. When the displacement accumulator receives the magnetic grid pulse signal, the displacement accumulator corrects the displacement once, so that the counting error generated in one interval is corrected in time at the end point of the interval, the accumulated error of each interval is eliminated, and the counting precision of the counter is improved. In one period, the counter counts pulse signals to obtain a pulse signal count value, the position and speed calculation algorithm subunit obtains an original angle through the pulse signal count value and an original deviation, then multiplies the original angle by a conversion coefficient to obtain a mechanical angle, then calculates a corresponding electrical angle through the mechanical angle and a motor pole pair number, and calculates the actual speed of the rotor according to the calculated electrical angle.
The position and speed closed-loop control algorithm unit and/or the current closed-loop control algorithm unit adopt an incremental PID control algorithm. A top-down design method is adopted in the implementation process of the incremental PID control algorithm, and the modules of the system are divided at the top layer as follows: the device comprises a deviation module, a proportion module, a differentiation module, an integration module and a summation output module. As can be seen from the expression analysis of the incremental PID control algorithm, the modules can be realized by a subtracter, a multiplier and an adder. Further, referring to fig. 3, the position and velocity closed-loop control algorithm unit and/or the current closed-loop control algorithm unit includes a subtractor, a multiplier, and an adder, thereby implementing three closed-loop control of position, velocity, and current.
With continued reference to fig. 3, the pulse generation algorithm unit includes a frequency divider, a counter, and a comparator; the frequency divider is used for changing the fundamental frequency signal of the system so as to adapt to the requirements of different devices; the counter is used for counting the number of the base frequency signals; the comparator is used for comparing the driving regulating current with the fundamental frequency signal to generate the driving pulse.
Specifically, in the pulse generation algorithm unit, the number of fundamental frequency signals is accurately calculated through a counter, so that PWM pulses with different duty ratios are generated, and the basic method for generating the PWM pulses is to compare a control command signal with a triangular wave or sawtooth wave signal with fixed frequency and output high level when the control command signal is greater than a set value; and when the control command signal is smaller than the set value, outputting a low level. The design principle of the pulse generation algorithm unit in the embodiment of the disclosure is to divide a 50MHz fundamental frequency signal provided by the development board by 64 frequencies, use the frequency signal as the fundamental frequency signal of the pulse generation algorithm unit, use the current input to the pulse generation algorithm unit as a control command signal, and compare the control command signal with the fundamental frequency signal to generate PWM pulses.
Optionally, the position detection module includes a magnetic grid pulse detection unit, and is configured to detect a magnetic grid pulse signal including rotor position information, where the magnetic grid pulse signal is a pulse signal.
Optionally, the position detection module further includes a grating pulse detection unit, configured to detect a grating pulse signal containing information about a position of the mover relative to the stator.
Based on the above technical solution, fig. 4 is a schematic structural diagram of a controller of another FPGA-based linear motor transportation system according to an embodiment of the present disclosure. As shown in fig. 4, the position detection module 12 includes a magnetic grating pulse detection unit 121 and a grating pulse detection unit 122; the magnetic grid pulse detection unit 121 is mainly configured to detect a magnetic grid pulse signal including position information of the mover, so that the FPGA module 11 calculates an actual position and an actual speed of the mover according to the magnetic grid pulse signal. The grating pulse detection unit 122 is mainly used for detecting in which stator the certain mover is specifically located in the action range of the stator in the case of multiple stators. When the grating reading head at one end of the stator detects a grating pulse signal, the rotor starts to drive into the stator, when the grating reading head at the other end of the stator detects the grating pulse signal, the rotor starts to drive out of the stator, the stator can be judged on which the rotor is specifically positioned by utilizing the grating pulse signal, meanwhile, the grating pulse signal can be used as a switch signal for controlling the stator, and the energy consumption of the whole system can be reduced to a great extent by the control mode.
In some embodiments, the current detection module includes a current sensor, an over-current protection signal generation circuit, and a current sensor interface circuit. The overcurrent protection signal generating circuit is used for generating an overcurrent protection signal to realize overcurrent protection, so that the safe operation of the motor is ensured. The driving module comprises a driving circuit and a three-phase inverter bridge circuit. The specific working principle of the aforementioned circuit is conventional, and will not be described herein again
Although the FPGA module is designed for a multi-mover and multi-stator linear motor control system, the FPGA module has a wide application range, and can be used as a general way in the field of motor control. The user can modify the relevant parameters in the algorithm and the programming of the hardware language according to the application requirement of the user so as to meet the requirement of the user on the system, and the application range is wider and the flexibility is stronger.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present disclosure, which enable those skilled in the art to understand or practice the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure 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 (10)
1. The controller of the linear motor transportation system based on the FPGA is characterized by comprising an FPGA module, a position detection module, a current detection module and a driving module, wherein the FPGA module is respectively connected with the position detection module, the current detection module and the driving module;
the position detection module is used for detecting the position of the rotor to obtain a pulse signal containing rotor position information;
the current detection module is used for feeding back a first driving current of the linear motor to the FPGA module;
the FPGA module is used for generating a driving pulse according to an expected position, an expected speed, the pulse signal and the first driving current;
the driving module is used for generating a second driving current of the linear motor according to the driving pulse.
2. The controller according to claim 1, wherein the FPGA module comprises a position and velocity calculation algorithm unit, a communication unit, a position and velocity closed-loop control algorithm unit, a current closed-loop control algorithm unit, and a pulse generation algorithm unit;
the position and speed calculation algorithm unit is used for calculating the actual position and the actual speed of the rotor according to the pulse signals and transmitting the actual position and the actual speed to the position and speed closed-loop control algorithm unit;
the communication unit is used for receiving the expected position and the expected speed sent by the upper computer and transmitting the expected position and the expected speed to the position and speed closed-loop control algorithm unit;
the position and speed closed-loop control algorithm unit is used for determining a reference current according to the expected position, the expected speed, the actual position and the actual speed and transmitting the reference current to the current closed-loop control algorithm unit;
the current closed-loop control algorithm unit is used for determining a driving regulation current according to the reference current and the first driving current and transmitting the driving regulation current to the pulse generation algorithm unit;
the pulse generation algorithm unit is used for generating the driving pulse according to the driving regulation current.
3. The controller of claim 2, wherein the position and velocity solution algorithm unit comprises a displacement accumulator, a counter, and the position and velocity solution algorithm subunit;
the displacement accumulator is used for correcting the displacement once when the pulse signal is received;
the counter is used for counting the pulse signals to obtain a pulse signal counting value;
and the position and speed calculation algorithm subunit is used for calculating the actual position and the actual speed of the rotor according to the pulse signal counting value.
4. The controller of claim 2, wherein the position and velocity closed loop control algorithm unit and/or the current closed loop control algorithm unit employs an incremental PID control algorithm.
5. The controller of claim 4, wherein the position and velocity closed loop control algorithm unit and/or the current closed loop control algorithm unit comprises a subtractor, a multiplier, and an adder.
6. The controller of claim 2, wherein the pulse generation algorithm unit comprises a frequency divider, a counter, and a comparator;
the frequency divider is used for changing a fundamental frequency signal of a system;
the counter is used for calculating the number of the fundamental frequency signals;
the comparator is used for comparing the driving regulating current with the fundamental frequency signal to generate the driving pulse.
7. The controller according to claim 1, wherein the position detection module comprises a magnetic grid pulse detection unit for detecting a magnetic grid pulse signal containing the mover position information, wherein the magnetic grid pulse signal is the pulse signal.
8. The controller according to claim 7, wherein the position detection module further comprises a grating pulse detection unit for detecting a grating pulse signal containing information on the position of the mover relative to the stator.
9. The controller of claim 1, wherein the current detection module comprises a current sensor, an over-current protection signal generation circuit, and a current sensor interface circuit.
10. The controller of claim 1, wherein the drive module comprises a drive circuit and a three-phase inverter bridge circuit.
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