CN114594695A - Inertial device simulation control system based on FPGA and DSP - Google Patents
Inertial device simulation control system based on FPGA and DSP Download PDFInfo
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- CN114594695A CN114594695A CN202210059010.7A CN202210059010A CN114594695A CN 114594695 A CN114594695 A CN 114594695A CN 202210059010 A CN202210059010 A CN 202210059010A CN 114594695 A CN114594695 A CN 114594695A
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Abstract
The invention discloses an inertial device simulation control system based on an FPGA and a DSP, and relates to the field of control of an inertial test simulation system. The invention includes hardware part and software part matched with it, the hardware part includes: HMI host computer, DSP chip, DDR register, FLASH register 1, FPGA chip, FLASH register 2, difference interface chip, angle sensor, RS232 serial ports chip, DA conversion chip, driver, motor, its software part includes: HMI host computer application module, DSP data read module, DSP data processing module, DSP data transmission module, FPGA sensor data acquisition module, be connected through the RS232 serial ports between HMI host computer and the DSP chip, the model of DSP chip is TMS320F28377SPTP, DSP chip internal integration DSP data read module, DSP data processing module, DSP data transmission module. The control system adopts HMI as a human-computer interaction interface, is realized by configuration programming, and has the advantages of simple design, low cost, small volume and convenient interface maintenance.
Description
Technical Field
The invention belongs to the field of inertia test simulation system control, and particularly relates to an inertia device simulation control system based on an FPGA and a DSP.
Background
Along with the performance improvement and the manufacturing cost reduction of modern inertial devices such as an optical gyroscope, a vibration gyroscope, a micro-electromechanical gyroscope, an acceleration and the like, the application range and the field of the inertial devices are further expanded. At present, an inertial navigation system, an inertial measurement system and the like designed and manufactured by an inertial device are widely applied to the fields of space test platforms, aircraft navigation, ship navigation, missile guidance, geodetic survey, unmanned driving and the like.
Because the inertia device has zero drift and the precision of the inertia device can change along with the change of the using time and the temperature, the inertia device needs to be calibrated and calibrated by an inertia test simulation system, and the control precision of the inertia test simulation system directly influences the calibration and calibration precision of the inertia device and finally influences the precision of the inertia system.
Most of the inertia test simulation systems in the current market adopt a combination mode of a PC upper computer and an RT real-time operating system, are controlled by a PCI board card, and have the advantages of high cost, large volume and relatively complex engineering implementation mode and disassembly and assembly.
Disclosure of Invention
The invention aims to provide an inertial device simulation control system based on an FPGA and a DSP, which adopts an HMI as a human-computer interaction interface, is realized by configuration programming, has simple design, low cost, small volume and convenient interface maintenance, and solves the problems of high cost, large volume, relatively complex engineering realization mode and disassembly and assembly of the control system which is controlled by a PCI board card.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention relates to an inertial device simulation control system based on FPGA and DSP, comprising a hardware part and a software part matched with the hardware part;
the hardware part comprises: the device comprises an HMI upper computer, a DSP chip, a DDR register, a FLASH register 1, an FPGA chip, a FLASH register 2, a differential interface chip, an angle sensor, an RS232 serial port chip, a DA conversion chip, a driver and a motor;
the software part comprises: the system comprises an HMI upper computer application program module, a DSP data reading module, a DSP data processing module, a DSP data transmission module and an FPGA sensor data acquisition module.
Furthermore, the HMI host computer is connected with the DSP chip through an RS232 serial port, the model of the DSP chip is TMS320F28377SPTP, and a DSP data reading module, a DSP data processing module and a DSP data transmission module are integrated in the DSP chip.
Furthermore, the DDR register adopts an IS61LV25616-8TI type SRAM chip, and the DDR register IS in bidirectional connection with the DSP chip;
the FLASH register 1 adopts SST39VF800-70-4I-EK type FLASH chip, and the register is connected with the DSP chip in two directions.
Furthermore, the FPGA chip adopts a Spartan-3E series chip XC3S500E-4PQ208I, and the chip is connected with the DSP chip through a data bus, an address bus and a control bus;
and the FLASH register 2 selects FLASH XCF04S as a configuration chip of the FPGA.
Furthermore, the differential interface chip adopts an SN65HVD78D type interface chip, and the chip is connected with the FPGA chip through a serial port;
the angle sensor is a rotary encoder with the model of ECN 225.
Furthermore, the RS232 serial port chip adopts an RSM232D type double-path isolation RS232 transceiver, and the chip is connected with the DSP chip through a serial port UART;
the DA conversion chip selects an AD5754R type multi-channel voltage output digital-to-analog converter, and the chip is connected with the DSP chip through the SPI.
Further, the driver is an ISF5AK60 type direct current motor driver, and the driver is connected with the DA conversion chip through an analog voltage signal;
the motor is a 160LYX15 type direct current brush torque motor, and the motor is connected with the driver through a current analog quantity signal.
The invention has the following beneficial effects:
1. the control system adopts HMI as a human-computer interaction interface, is realized by configuration programming, and has the advantages of simple design, low cost, small volume and convenient interface maintenance.
2. The control system adopts the DSP as a control center, the FPGA is used for data acquisition, the cost is low, the size is small, and the control system can be integrated on one circuit board during design, so that the control box of the control system is designed to be simple and compact in size, convenient to disassemble and convenient to maintain, popularize and apply.
3. The DSP control program in the control system is realized by adopting an embedded C language, the FPGA acquisition program is realized by a Verilog HDL language, the programming and debugging are convenient, and the design time is short.
4. The control system is high in reliability, the traditional combination mode of a PC upper computer and an RT real-time operating system is abandoned, the problems that the operating system is halted, and RT software is incompatible with the operating system exist in the traditional control mode, and the reliability is low.
Of course, it is not necessary for any product to practice the invention to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a system control block diagram of the present invention;
FIG. 2 is an electrical schematic of the system of the present invention;
FIG. 3 is a block diagram of the dual closed loop control of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, the present invention is an inertial device simulation control system based on FPGA and DSP, which includes a hardware portion and a software portion matching with the hardware portion;
the hardware part comprises: the device comprises an HMI upper computer, a DSP chip, a DDR register, a FLASH register 1, an FPGA chip, a FLASH register 2, a differential interface chip, an angle sensor, an RS232 serial port chip, a DA conversion chip, a driver and a motor;
the software part comprises: the system comprises an HMI upper computer application program module, a DSP data reading module, a DSP data processing module, a DSP data transmission module and an FPGA sensor data acquisition module.
The HMI upper computer and the DSP chip are connected through an RS232 serial port, and the HMI upper computer and an HMI upper computer application program module complete data display and man-machine interaction operation together; the model of the DSP chip is TMS320F28377SPTP, the DSP chip is internally integrated with a DSP data reading module, a DSP data processing module and a DSP data transmission module, and the chip can realize the functions of system sensor data acquisition, data operation processing, control signal output and data result display by combining all software modules in the system and is the core of the whole system.
The DDR register IS an IS61LV25616-8TI type SRAM chip, and the DDR register IS in bidirectional connection with the DSP chip and used for storing intermediate data in the DSP operation process;
SST39VF800-70-4I-EK type FLASH chip is selected as the FLASH register 1, and the register is connected with the DSP chip in a bidirectional mode and used for storing the initial running program of the DSP.
The FPGA chip adopts a Spartan-3E series chip XC3S500E-4PQ208I, is connected with the DSP chip through a data bus, an address bus and a control bus, and is combined with a differential interface chip and an FPGA sensor data acquisition module to realize data acquisition of an external angle sensor;
the FLASH register 2 selects the FLASH XCF04S as a configuration chip of the FPGA, and the FLASH register 2 is bidirectionally connected with the FPGA chip and used for storing programs and data.
The differential interface chip adopts an SN65HVD78D type interface chip, and is connected with the FPGA chip through a serial port and used for reading the current angle of the angle sensor by the FPGA;
the angle sensor is a rotary encoder with the model of ECN225 and used for sensing the current system angle position.
The RS232 serial port chip selects an RSM232D type double-path isolation RS232 transceiver, and is connected with the DSP chip through a serial port UART (universal asynchronous receiver/transmitter) and used for data transmission between the DSP and the HMI;
the DA conversion chip selects an AD5754R type multi-channel voltage output digital-to-analog converter, and the chip is connected with the DSP chip through the SPI for the DSP to send a control instruction to the driver.
The driver is an ISF5AK60 type direct current motor driver, is connected with the DA conversion chip through an analog voltage signal and is used for receiving a control instruction sent by the DSP;
the motor is a 160LYX15 type direct current brush torque motor, and the motor is connected with the driver through a current analog quantity signal and used for executing a driver control command.
The HMI upper computer application program module is used for providing a human-computer interaction function; the software programming part is divided into a sending process, a receiving process and a display process; the sending process acquires control instruction information input on a screen and downloads the control instruction information to the DSP data transmission module according to a communication protocol; the receiving process receives system data uploaded by the DSP data transmission module through a communication protocol; the display process displays the system data acquired by the receiving process and responds to screen operation on the application program;
the DSP data reading module is used for reading angle sensor data information in the FPGA and storing the angle sensor data information in the SRAM, and when a certain condition is met, the DSP data processing module calls the data to carry out data resolving; the DSP data processing module performs PID resolving according to control instruction information input on a screen and acquired current angle information to obtain a control instruction, and the control instruction is transmitted to a driver through a DA chip;
the DSP data transmission module is used for receiving control instruction information input on a screen; the second is used for uploading the sensor data and the calculation result to the HMI in real time for displaying;
the FPGA sensor data acquisition module acquires the current angle information of the angle sensor in real time through a communication protocol and uploads the current angle information to the DSP data reading module.
The working principle of the invention is as follows:
the hardware of the control system consists of a control cabinet, and is subdivided into an angle measuring system module, a digital control system module, a motor driving module, an instruction input/output system, an external communication interface system module and the like according to functional modules, as shown in figure 1.
1. Angle measuring system
The angle measuring system is a device for measuring the angular position of the rotary table and mainly comprises an angle sensor. The angular position of the shaft is measured and real-time measurement data is output as a feedback parameter to the control system.
2. Command input/output system
The instruction input and output system is composed of an HMI and is connected with a DSP chip in the digital control system through an RS232 serial port, and the HMI is mainly used for finishing target control instruction input (target position and target speed) and operation result display.
3. Digital control system
The digital control system mainly comprises a DSP chip, a DDR register, a FLASH register 1, an FPGA chip, a FLASH register 2, a differential interface chip, an angle sensor, an RS232 serial port chip, a DA conversion chip and the like, and is integrated on a circuit board, small in size, low in cost and convenient to install and maintain.
The control adopts a digital PID (proportion-integration-differentiation) regulation algorithm, and PID (proportion-integration-differentiation) regulation is a control technology which is mature in technology and widely applied in control systems, so that the PID regulation method is widely applied to various control systems. It features forming typical structure, convenient parameter setting and regulation, flexible structure change and strong adaptability.
The mathematical model of the PID regulator is:
kp, Ki and Kd are proportional, integral and differential coefficients respectively.
In the control algorithm, a position formula is adopted, e (t) is replaced by the value of a sampling point, integration and differentiation are realized by numerical integration and difference algorithm, backward rectangular integration and backward difference are adopted, and the obtained position formula is as follows:
in order to reduce the overshoot of the system, the above formula is modified, and a PID algorithm of integral separation is adopted. The algorithm introduces a logic function, and the output sampling point value of the regulator is as follows:
in the formula
Wherein, A is the threshold, when the large deviation, the integral term does not work, when the deviation is within the threshold, introduce the integral algorithm, so can both reduce the overshoot, can make the integral control reach the desired effect.
The control system adopts double closed loop (position loop and speed loop) digital PID control, and the structure diagram is shown in FIG. 3. In the system block diagram, the position loop controller and the speed loop controller are all realized by the DSP.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (7)
1. An inertial device simulation control system based on FPGA and DSP is characterized in that: comprises a hardware part and a matched software part;
the hardware part comprises: the device comprises an HMI upper computer, a DSP chip, a DDR register, a FLASH register 1, an FPGA chip, a FLASH register 2, a differential interface chip, an angle sensor, an RS232 serial port chip, a DA conversion chip, a driver and a motor;
the software part comprises: the system comprises an HMI upper computer application program module, a DSP data reading module, a DSP data processing module, a DSP data transmission module and an FPGA sensor data acquisition module.
2. The inertial device simulation control system based on the FPGA and the DSP as claimed in claim 1, wherein the HMI host computer is connected with the DSP chip through an RS232 serial port, the model of the DSP chip is TMS320F28377SPTP, and a DSP data reading module, a DSP data processing module and a DSP data transmission module are integrated in the DSP chip.
3. The inertial device simulation control system based on the FPGA and the DSP as claimed in claim 1, wherein the DDR register IS an IS61LV25616-8TI type SRAM chip, and IS bidirectionally connected with the DSP chip;
the FLASH register 1 adopts SST39VF800-70-4I-EK type FLASH chip, and the register is connected with the DSP chip in two directions.
4. The simulation control system for the inertial component based on the FPGA and the DSP as claimed in claim 1, wherein the FPGA chip adopts a Spartan-3E series chip XC3S500E-4PQ208I, and the chip and the DSP chip are connected through a data bus, an address bus and a control bus;
and the FLASH register 2 selects FLASH XCF04S as a configuration chip of the FPGA.
5. The inertial device simulation control system based on the FPGA and the DSP as claimed in claim 1, wherein the differential interface chip is an SN65HVD78D type interface chip, and the chip is connected with the FPGA chip through a serial port;
the angle sensor is a rotary encoder with the model of ECN 225.
6. The inertial device simulation control system based on the FPGA and the DSP as claimed in claim 1, wherein the RS232 serial port chip is an RSM232D type two-way isolation RS232 transceiver, and the chip and the DSP chip are connected through a serial UART;
the DA conversion chip selects an AD5754R type multi-channel voltage output digital-to-analog converter, and the chip is connected with the DSP chip through the SPI.
7. The inertial device simulation control system based on the FPGA and the DSP as claimed in claim 1, wherein the driver is ISF5AK60 type DC motor driver, and the driver is connected with the DA conversion chip through an analog voltage signal;
the motor is a 160LYX15 type direct current brush torque motor, and the motor is connected with the driver through a current analog quantity signal.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115685864A (en) * | 2022-09-15 | 2023-02-03 | 江苏亚威机床股份有限公司 | Bending machine control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115685864A (en) * | 2022-09-15 | 2023-02-03 | 江苏亚威机床股份有限公司 | Bending machine control method |
| CN115685864B (en) * | 2022-09-15 | 2023-08-25 | 江苏亚威机床股份有限公司 | Bending machine control method |
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