CN1955868A - DSP-based electric machine position servo device - Google Patents

DSP-based electric machine position servo device Download PDF

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Publication number
CN1955868A
CN1955868A CNA2006100105780A CN200610010578A CN1955868A CN 1955868 A CN1955868 A CN 1955868A CN A2006100105780 A CNA2006100105780 A CN A2006100105780A CN 200610010578 A CN200610010578 A CN 200610010578A CN 1955868 A CN1955868 A CN 1955868A
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pin
connects
output
feedback
controller
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CNA2006100105780A
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CN100470432C (en
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刘胜
李冰
姜繁生
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哈尔滨工程大学
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Abstract

A servo device of motor position based on DSP consists of brushless DC motor being used as servo motor as its servo device being suitably set on digital control system requiring position control response quickly, control circuit being designed independently by DSP and programming logic component for realizing closed loop servo control of current loop and speed loop as well as position loop.

Description

Electric machine position servo device based on DSP

(1) technical field

The present invention relates to a kind of electric machine position servo device, particularly a kind of dc brushless motor position servo device.

(2) background technology

There is the brush direct current motor to have the armature and the fixing magnetic field of rotation, therefore there is the brush direct current motor that contact mechanism---the brush and the commutator of a slip must be arranged, by they electric current feed the rotation armature, make under a certain magnetic pole, conductor is in continuous replacement, alive polarity is constant, this make brush motor exist commutation spark, life-span short, little in stall state output torque, electromagnetic interference (EMI) is arranged and safeguards shortcoming such as inconvenience.And brushless direct current motor is just opposite with the former, and it has the magnetic field and the fixing armature of rotation, and the power switch component in such electronic commutation circuit such as transistor or thyristor etc. can directly be connected with armature winding.In addition, a position transducer is housed in motor, is used for detecting the position of main rotor in operational process.It has replaced that with the electronic commutation circuit mechanical commutation device of brushing direct current motor is arranged.In brushless direct current motor by the output signal of the position transducer of reflection main rotor position, remove to drive the corresponding power switch component that connects with armature winding by the electronic commutation circuit, make armature winding feed successively, thereby on main stator, produce the rotating magnetic field of great-jump-forward, drag the p-m rotor rotation.Along with the rotation of rotor, position transducer is constantly sent signal, to change the "on" position of armature winding, makes that the direction of current in a certain magnetic pole lower conductor is constant all the time.

Therefore, DC brushless torquemotor is except having same mechanical property of common permanent magnet direct current motor and good governor control characteristics, also having the brushless direct current motor no-spark disturbs, long and the low advantage of noise of life-span, and can under the situation of low speed even stall, move, help improving the runnability of system.

Traditional motor driver adopts the mimic channel driving method the earliest, development along with microelectric technique, numeral, simulation control have appearred, along with DSP (Digital Signal Processor, digital signal processor) development and large-scale application, digital electric machine controller occurs, and the Electric Machine Control special DSP occurred.The appearance of Electric Machine Control special DSP, the wide prospect that provides for the development of its digital Electric Machine Control.Electric Machine Control special DSP inside has the generation and the detecting unit of the perfect needed various types of signal of Electric Machine Control, has alleviated the burden of DSP innernal CPU (Center Process Unit, CPU (central processing unit)) greatly.

(3) summary of the invention

The objective of the invention is to utilize the characteristic of brshless DC motor and the hardware resource that enriches of Electric Machine Control special DSP to provide a cover high-precision electric machine position servo device based on DSP.

The object of the present invention is achieved like this: it comprises brshless DC motor and control circuit, control circuit comprises digital signal processor U1, programmable logic device (PLD) U2, storer U3, communication interface U4, analog quantity output U5, PWM exports U6, wave filter U9, display board U10, encoder interfaces U11, ear feedback interface U12 suddenly, feedback current interface U13, photoelectricity isolating interface U20, electric current ear suddenly detects U21, surge voltage control U22, voltage detecting U23, feedback of status U24, IPM Intelligent Power Module U30, rectification module U31 and transformation module U32, digital signal processor U1 connects programmable logic device (PLD) U2, storer U3, communication interface U4, analog quantity output U5, wave filter U9 and display board U10, analog quantity output U5 connects external analog equipment, communication interface U4 connects outer PC, programmable logic device (PLD) U2 connects PWM output U6, encoder interfaces U11, ear feedback interface U12 and feedback of status U24 suddenly, wave filter U9 connects feedback current interface U13, feedback current interface U13 connects electric current ear detection U21 suddenly, PWM output U6 connects photoelectricity isolating interface U20, photoelectricity isolating interface U20 connection status feedback U24 and IPM Intelligent Power Module U30, feedback of status U24 and surge voltage control U22 interconnect, electric current ear suddenly detects U21, voltage detecting U23 and IPM Intelligent Power Module U30 connection status feedback U24, the 220VAC alternating current is connected IPM Intelligent Power Module U30 through rectification module U31 with transformation module U32, IPM Intelligent Power Module U30 connects electric current ear detection U21 and brshless DC motor suddenly, and the feedback end of motor connects encoder interfaces U11 and Huo Er feedback interface U12.

The present invention also has some architectural features like this:

1, digital signal processor U1 adopts digital signal processor DSP 2812 chips, comprise SPI, PWM, ADC, GPIO, QEPs, MCBSP and eCAN, SPI partly connects analog quantity output U5, PWM, GPIO partly are connected programmable logic device (PLD) U2 with QEPs, ADC partly connects wave filter U9, MCBSP partly connects display board U10, and eCAN connects communication interface U4.

2, comprise speed observer 9 and location servomechanism installation controller unit in the digital signal processor U1, location servomechanism installation controller unit is made of position servo control device 1, speed control 2, current controller 3, motor processing unit 4, scrambler 5, harmonic speed reducer 6, velocity feed forward controller 7 and feed forward of acceleration controller 8.

3, programmable logic device (PLD) U2 adopts the CPLDXC9536XL chip, and its filter shape part connects GPIO and QEPs respectively.

4, be provided with system protection circuit in the programmable logic device (PLD) U2.

5, storer U3 is the SRAM storer.

6, communication interface U4 is the CAN mouth.

The present invention adopts brshless DC motor as servomotor, and this position servo device is applicable to the various needs digital control system of the precision positions control of response fast; Control circuit is by Electric Machine Control dedicated digital signal processor (DSP) programmable logic device (PLD) independent design, introduced speed observer, the digital motor control mode of uses advanced, electric current loop, the speed ring of motor, the closed loop servo control of position ring have been realized, possess good robustness, can cooperate the servomotor of plurality of specifications.This position servo device reliability height, strong, the good stability of function can be widely used in fields such as machinery, numerical control equipment, electromechanical integration, printing, weaving, electronics, light industry, packing.

Control signal is by the given angle signal of communication interface U4 by host computer among the present invention.Angle signal produces velocity feed forward and angular acceleration feed-forward signal through the U1 computing.

The signal of angular encoder output is through the level conversion of encoder interfaces U11 and the filtering of U2, be input to the angle feedback signal of the QEPs generation harmonic speed reducer among the digital signal processor U1, U1 produces the angular error signal with angle feedback signal and given signal through computing.Speed encoder generates feedback speed signal, feedback speed signal and the velocity setting signal operation generation speed error signal of motor through the QEPs that is input to U1 after ear feedback interface U12 and U2 handle suddenly.The motor pole position is obtained by motor HALL position transducer, through ear feedback interface U12 level conversion and U2 shaping filter suddenly, is input to 116,117,110 pins of the GPIO of U1.Electric machine phase current by electric current suddenly ear detect the current sensor senses of ear suddenly of U21, handle through feedback current interface U13 and U9 again, be input to the ADC of U1, convert the current feedback signal of digital quantity to by ADC.Current feedback signal and given current signal generate, error current signal (dtc signal).The system feedback and the output signal of analog quantity output U5 output analog quantity.

The pwm signal of programmable logic device (PLD) U2 output outputs to the photoelectric isolating circuit of photoelectricity isolating interface U20 through PWM output interface U6 interface circuit, drives IPM Intelligent Power Module U30, and U30 output three-phase modulations voltage comes drive motor.Programmable logic device (CPLD) is finished three aspect work; the virtual protection of first pwm pulse; it two is that the status signal of system feedback is handled; realize failure response; protection system; it three is to replace discreet logic device and analog device, absolute value circuit, shaping circuit, the filtering circuit realized by the programming to CPLD.

The 220V alternating current generates dc bus through rectification module U31 rectification and transformation module U32 transformation, gives IPM Intelligent Power Module U30 power supply.The output emergency protection signal of surge voltage control loop U22 is input to U24 feedback of status unit.The voltage monitoring signal of voltage monitoring U23 output, electric current ear suddenly detect the over-current signal of U21 output and the fault-signal of U30 output also all is input to feedback of status U24.Feedback of status U24 is input to U2 with state feedback information, and the steering order of U2 is also carried out by U24.Display board U10 shows and the keypad circuit, is used for finishing the setting and the demonstration of parameter.

Advantage of the present invention and effect have been to provide a cover high reliability, high precision, efficient, comprehensive practical electric machine position servo device:

(1) brushless direct current motor has the magnetic field and the fixing armature of rotation, and the power switch component in such electronic commutation circuit such as transistor or thyristor etc. can directly be connected with armature winding; In addition, the position transducer in motor can detect the position of main rotor in operational process, and it has replaced that with the electronic commutation circuit mechanical commutation device of brushing direct current motor is arranged; Therefore, DC brushless torquemotor is except having same mechanical property of common permanent magnet direct current motor and good governor control characteristics, also having the brushless direct current motor no-spark disturbs, long and the low advantage of noise of life-span, and can under the situation of low speed even stall, move, help improving the runnability of system;

(2) be core with Electric Machine Control special DSP 2812 chips, utilize himself A/D modular converter to realize current closed-loop control; Utilize himself universaling I/O port (GPIO) to read the motor speed feedback signal of rotor hall position feedback signal and electric machine built-in photoelectric encoder, realized speed closed loop control; Utilize himself quadrature decoder circuit (QEP) to finish decoding, realized position closed loop control the load end scrambler;

(3) adopt programmable logic device (PLD) (CPLD) to replace discreet logic device and analog device, by absolute value circuit, shaping circuit, filtering circuit integrated level height that the programming to CPLD realizes, antijamming capability is strong; CPLD also finishes the virtual protection function to DSP output pwm pulse in addition, and the status signal of system feedback is handled, and realizes failure response, protection system; In addition, extensive programable logic device U2 and small scale in circuitry logical device ratio have increased integrated level, have reduced wiring density, improve system reliability;

(4) traditional feedback speed signal is the simple differential to position feed back signal, can introduce very big phase lag like this; The present invention adopts speed observer to observing the true velocity of motor, has eliminated phase lag, increases stable state nargin, improves the system dynamics response;

(5) the present invention introduces feedforward control, eliminates the delay of servo FEEDBACK CONTROL, has improved system accuracy; Speed ring adopts pseudo-Derivative Feedback feedforward controller (PDFF), by regulating preceding feedforward parameter, system is selected flexibly between good static rigidity and Fast Dynamic response;

(6) adopt smart power device (IPM) that electric moter voltage, electric current are monitored, unusual if electric current and voltage occurs, but IPM self-protecting and output alarm signal have improved system reliability.

(4) description of drawings

Fig. 1 is a servomechanism installation principle assumption diagram of the present invention;

Fig. 2 is the circuit theory diagrams of programmable logic device (PLD) of the present invention;

Fig. 3 is system protection circuit figure of the present invention;

Fig. 4 is the formation controlling party block diagram of location of the present invention servomechanism installation controller unit;

Fig. 5 is the formation block scheme of speed observer of the present invention.

(5) embodiment

That the invention will be further described is as follows below in conjunction with accompanying drawing:

In conjunction with Fig. 1, the present invention includes brshless DC motor and control circuit, control circuit comprises digital signal processor U1, programmable logic device (PLD) U2, storer U3, communication interface U4, analog quantity output U5, PWM exports U6, wave filter U9, display board U10, encoder interfaces U11, ear feedback interface U12 suddenly, feedback current interface U13, photoelectricity isolating interface U20, electric current ear suddenly detects U21, surge voltage control U22, voltage detecting U23, feedback of status U24, IPM Intelligent Power Module U30, rectification module U31 and transformation module U32, digital signal processor U1 connects programmable logic device (PLD) U2, storer U3, communication interface U4, analog quantity output U5, wave filter U9 and display board U10, analog quantity output U5 connects external analog equipment, communication interface U4 connects outer PC, programmable logic device (PLD) U2 connects PWM output U6, scrambler is by a mouthful U11, ear feedback interface U12 and feedback of status U24 suddenly, wave filter U9 connects feedback current interface U13, feedback current interface U13 connects electric current ear detection U21 suddenly, PWM output U6 connects photoelectricity isolating interface U20, photoelectricity isolating interface U20 connection status feedback U24 and IPM Intelligent Power Module U30, feedback of status U24 and surge voltage control U22 interconnect, electric current ear suddenly detects U21, voltage detecting U23 and IPM Intelligent Power Module U30 connection status feedback U24, the 220VAC alternating current is connected IPM Intelligent Power Module U30 through rectification module U31 with transformation module U32, IPM Intelligent Power Module U30 connects electric current ear detection U21 and brshless DC motor suddenly, and the feedback end of motor connects encoder interfaces U11 and Huo Er feedback interface U12.Digital signal processor U1 adopts digital signal processor DSP 2812 chips, comprise SPI, XD, AD, PWM, ADC, GPIO, QEPs, MCBSP and eCAN, SPI partly connects analog quantity output U5, XD, AD, PWM, GPIO and QEPs partly are connected programmable logic device (PLD) U2, and ADC partly connects wave filter U9, MCBSP partly connects display board U10, and eCAN connects communication interface U4.Programmable logic device (PLD) U2 adopts the CPLDXC9536XL chip, and its filter shape part connects GPIO and QEPs respectively.Storer U3 is the RAM storer, and communication interface U4 is serial ports CANRS232.

Digital signal processor U1 adopts digital signal processor DSP 2812 chips, comprise SPI, XD, AD, PWM, ADC, GPIO, QEPs, MCBSP and eCAN, SPI partly connects analog quantity output U5, XD, AD, PWM, GPIO and QEPs partly are connected programmable logic device (PLD) U2, and ADC partly connects wave filter U9, MCBSP partly connects display board U10, and eCAN connects communication interface U4.

Comprise speed observer 9 and location servomechanism installation controller unit in the digital signal processor U1.

In conjunction with Fig. 2, programmable logic device (PLD) U2 adopts the XC9536XL chip of CPLD, its filter shape is partly distinguished GPIO and the QEPs part of linking number word signal processor U1, the 2-8 pin of CPLD chip is PWM6-PWM1 output, connecting resistance R 37-R42 respectively arrives+the 3.3V power supply, 7 pin are the T1 pin of PWM, 35 pin are the T2 pin of PWM, 9 pin are the DRIVE pin, 10,23,31 pin meet DGND, 15 pin are the TDI_CPLD input, 30 pin are TDO_CPLD output, 16 pin are the TMS_CPLD pin, 17 pin are the TCK_CPLD pin, 20 pin are the HV_S pin, 22 pin are the LV_S pin, and 24 pin connect switch S 1, capacitor C 48 to DGND, connect resistance R 103 and arrive+the 3.3V power supply 21,32,41 pin connection+3.3V power supplys, 25-29,33 pin are PWM6O, PWM4O, PWM2O, PWM5O, PWM3O and PWM1O pin, 38 pin are the IPMF_S pin, and 39 pin are the BREAK pin, and the TCK1 pin of the JTAG-CPLD chip of programmable logic device (PLD) is the TCK_CPLD pin, the GND2 pin meets DGND, the TDI3 pin is the TDI_CPLD pin, and the VCC4 pin connects+the 5V power supply, and the TMS5 pin is the TMS_CPLD pin, the TDO9 pin is the TDO_CPLD pin, and capacitor C 54-C56 connection+3.3V is to DGND.

Six road pwm signal PWM1 of U1 output among Fig. 2, PWM2, PWM3, PWM4, PWM5, the PWM1 of PWM6 and U2, PWM2, PWM3, PWM4, PWM5, PWM6 links to each other, and generates OPWM1, OPWM2, OPWM3, OPWM4, OPWM5, OPWM6 by the U2 processing of circuit; T1PWM meets the T1PWM of U1 among the U2, is the pwm pulse locking signal of DSP; T2PWM meets the T2PWM of U1 among the U2, is drive plate READY signal; DRIVE among the U2 is the enable signal of photoelectric isolating device; HV_S is that overvoltage protection signal, LV_S are that under-voltage protection signal, IPMF_S are that U30 mistake output signal, BREAK are brake signals among the U2.

In conjunction with Fig. 3; be provided with system protection circuit in the programmable logic device (PLD) U2; input signal busbar voltage IPMP connects resistance R 81 in the system protection circuit; R82 is to amplifier U8A and amplifier U8B; connect resistance R 83; capacitor C 35 to P_GND; amplifier U8A connects resistance R 74; capacitor C 11 to P_GND; resistance R 32 to VCC+15V; the output of amplifier U8A connects resistance R 32 to VCC+15V; resistance R 71 is to triode Q5 base electrode; triode Q5 cascode level is to P_GND; collector output connects resistance R 53 to the O1 unit; the O1 unit connects resistance R 14 to VCC+5V; output connects over voltage alarm signal HV_S; amplifier U8B connects resistance R 55; capacitor C 12 to P_GND; resistance R 90 to VCC+15V; the output of amplifier U8B connects resistance R 75 to VCC+15V; resistance R 72 is to triode Q6 base electrode; triode Q6 cascode level is to P_GND; collector output connects resistance R 54 to the O2 unit, and the O2 unit connects resistance R 16 to VCC+5V; output connects undervoltage warning signal LV_S.

Fig. 3 median generatrix voltage IPMP obtains voltage actual detected voltage U d by the dividing potential drop of resistance R 81, R82 and R83, and Ud connects 5 pin of amplifier LM339.The reference voltage of alarm for high voltage is obtained by R32 and R74 dividing potential drop by+15V voltage, and the high pressure reference voltage connects 4 pin of LM339.When detection voltage U d is higher than the high pressure reference voltage, the comparer upset, the 2 pin output high pressure of LM339 makes the Q5 conducting, by electric current, makes HV_S over voltage alarm signal put height, output alarm signal among the O1.Low pressure detects 6 pin that Ud meets LM339.Low pressure reference voltage+15V voltage is obtained by R90 and R55 dividing potential drop, and low pressure detects 7 pin that meet LM339.When detection voltage U d was lower than the low pressure reference voltage, 1 jiao of output high pressure of LM39 made the Q6 conducting.O2 alives and makes LV_S undervoltage warning signal put height, output alarm signal.

In conjunction with Fig. 4, the location servomechanism installation is made of position servo control device 1, speed control 2, current controller 3, motor processing unit 4, scrambler 5, harmonic speed reducer 6, velocity feed forward controller 7 and feed forward of acceleration controller 8.Host computer connection speed feedforward controller 7, and with harmonic speed reducer 6 link position servo controllers 1, position servo control device 1 and velocity feed forward controller 7, speed observer 9 connection speed controllers 2, velocity feed forward controller 7 connects feed forward of acceleration controller 8, speed control 2 is connected current controller 3 with feed forward of acceleration controller 8, speed observer 9, current controller 3 connects motor processing unit 4 and speed observer 9, motor processing unit 4 connects scrambler 5, and scrambler 5 connects harmonic speed reducer 6 and speed observer 9.

The output addition formation speed set-point Vc of position servo controller 1 and velocity feed forward controller 7 in the servomechanism installation controller unit of location, Vc is connection speed controller 2 on the one hand, multiply by feedforward gain K on the one hand FRObtain feedforward gain output, the speed feedback value V of speed command Vc and speed observer 9 FBetween the velocity deviation product divide gain K VIObtain the output of speed control storage gain, feedforward gain output adds storage gain output and speed feedback value V FDifference be multiplied by proportional gain K again VPObtain the output of speed control 2.

1 pair of total inertia of position servo control device (total inertia of motor and harmonic speed reducer 6) carries out position control for the harmonic speed reducer output of J, and harmonic speed reducer 6 is provided with scrambler, and then the outgoing position θ of harmonic speed reducer 6 can be detected by scrambler.From the given position signalling instruction θ of host computer *And the position deviation (θ between the harmonic speed reducer *-θ) be transfused to position servo control device 1.Position servo control device 1 is a proportional controller, the output bias of this proportional controller and position loop gain K PHold the value of acquisition mutually, add the speed command Vc of the output of velocity feed forward controller 7 as motor.Velocity feed forward controller 7 is accepted position command θ, differentiated in the position, and with the gain K of velocity feed forward controller VFMultiplying each other obtains the output of velocity feed forward controller 7, this value and positioner 1 output addition.In positioning servocontroller, speed command is directly obtained by the given differential in position, does not produce servo delay.Therefore, compare, can further eliminate servo delay with nearly situation with FEEDBACK CONTROL.Velocity feedback is realized by speed observer 9.Speed observer 9 is observed actual motor speed value according to motor feedback position signal and motor feedback current.Feed forward of acceleration controller 8 is accepted the output of velocity feed forward controller 7, it is differentiated, and with feed forward of acceleration controller gain K FRMultiplying each other obtains the feed forward of acceleration output valve, this value and speed control 2 output additions.Speed control 2 is pseudo-differential feedback controller (PDFF), and controller has three parameter K FR, K VIAnd K VPVelocity setting value Vc takes advantage of feedforward gain K FRObtain feedforward gain output; The speed feedback value V of speed command Vc and speed observer 9 FBetween the velocity deviation product divide gain K VIObtain the output of speed control storage gain; Feedforward gain output adds storage gain output and speed feedback value V FDifference be multiplied by proportional gain K again VPObtain the output of speed control 2, this value and the addition of feed forward of acceleration output valve obtain electric current (torque) set-point.Can be in the speed control 2 by regulating feedforward gain K FRMake system performance between good static rigidity and Fast Dynamic response, make optimum compromise.Current controller is accepted electric current (torque) instruction, generates torque, driving motor processing unit 4.Because the introducing of feed forward of acceleration, electric current (torque) instruction does not have servo delay.As mentioned above, in the servomechanism installation of the location of Fig. 4, the servo delay that is produced by FEEDBACK CONTROL can be controlled and compensates by carrying out velocity feed forward control and feed forward of acceleration.

In conjunction with Fig. 5, I among the figure FBe the actual current value of motor feedback, T DBe disturbing moment, T EBe the electromagnetic torque of motor, V MBe the actual speed of motor, P MBe motor encoder outgoing position signal, Vo is an observation speed, T EEstBe the observation torque, V FIt is the motor feedback speed.In physical system, feedback current I FBy the electromagnetic torque constant K TAmplify, generate electromagnetic torque T E, electromagnetic torque T EWith disturbing moment T DSignal plus is through 1/J TGenerate actual speed V with the 1/s conversion M, V MProduce sensor output P through sensor 1/s conversion again MMotor encoder outgoing position signal; In the model recording geometry, feedback current I FBy the electromagnetic torque constant K TEstAmplify, generate and estimate electromagnetic torque T EEst, electromagnetic torque T EEstThrough 1/J TEstAnd Tz/ (z-1) conversion generation observation speed Vo, observation speed Vo exports to velocity feedback V on the one hand F, output is again through Tz/ (z-1) conversion and motor encoder outgoing position signal P on the one hand MAddition, subtract and generate observer error P OE, observer error P OEExport to observer, through containing parameter K PO, K IO/SAnd K DOSObserver controller output Do as feedback, Do again with constant K TEstAddition.

Electromagnetic torque T in the physical system EAdd perturbing torque T DConstitute total torque, total inertia that total torque is removed last motor and load produces motor acceleration.Integration of acceleration two times generates motor speed value and motor position value respectively.Model system is very similar to the physical system structure, and difference is: replace differential s with numeric field difference Tz/ (z-1); The observation disturbance is the output Do of observer controller, and the observer controller is the PID controller, contains parameter K PO, K IO/SAnd K DOSIn the ideal case, the observation moment of observation controller output and disturbing moment equate.In digital control system, the general speed feedback is the simple differential of position feedback, and this can introduce phase delay, makes the system responses concussion.Speed observer can be eliminated phase delay intrinsic in the sensor feedback signal, increases the system stability allowance.

Claims (7)

1, a kind of electric machine position servo device based on DSP, it is characterized in that: it comprises brshless DC motor and control circuit, control circuit comprises digital signal processor U1, programmable logic device (PLD) U2, storer U3, communication interface U4, analog quantity output U5, PWM exports U6, wave filter U9, display board U10, encoder interfaces U11, ear feedback interface U12 suddenly, feedback current interface U13, photoelectricity isolating interface U20, electric current ear suddenly detects U21, surge voltage control U22, voltage detecting U23, feedback of status U24, IPM Intelligent Power Module U30, rectification module U31 and transformation module U32, digital signal processor U1 connects programmable logic device (PLD) U2, storer U3, communication interface U4, analog quantity output U5, wave filter U9 and display board U10, analog quantity output U5 connects external analog equipment, communication interface U4 connects outer PC, programmable logic device (PLD) U2 connects PWM output U6, encoder interfaces U11, ear feedback interface U12 and feedback of status U24 suddenly, wave filter U9 connects feedback current interface U13, feedback current interface U13 connects electric current ear detection U21 suddenly, PWM output U6 connects photoelectricity isolating interface U20, photoelectricity isolating interface U20 connection status feedback U24 and IPM Intelligent Power Module U30, feedback of status U24 and surge voltage control U22 interconnect, electric current ear suddenly detects U21, voltage detecting U23 and IPM Intelligent Power Module U30 connection status feedback U24, the 220VAC alternating current is connected IPM Intelligent Power Module U30 through rectification module U31 with transformation module U32, IPM Intelligent Power Module U30 connects electric current ear detection U21 and brshless DC motor suddenly, and the feedback end of motor connects encoder interfaces U11 and Huo Er feedback interface U12.
2, a kind of electric machine position servo device according to claim 1 based on DSP, it is characterized in that: digital signal processor U1 adopts digital signal processor DSP 2812 chips, comprise SPI, PWM, ADC, GPIO, QEPs, MCBSP and eCAN, SPI partly connects analog quantity output U5, PWM, GPIO partly are connected programmable logic device (PLD) U2 with QEPs, ADC partly connects wave filter U9, and MCBSP partly connects display board U10, and eCAN connects communication interface U4.
3, a kind of electric machine position servo device according to claim 1 based on DSP, it is characterized in that: comprise speed observer (9) and location servomechanism installation controller unit in the digital signal processor U1, location servomechanism installation controller unit is by position servo control device (1), speed control (2), current controller (3), motor processing unit (4), scrambler (5), harmonic speed reducer (6), velocity feed forward controller (7) and feed forward of acceleration controller (8) constitute, host computer connection speed feedforward controller (7), and with harmonic speed reducer (6) link position servo controller (1), position servo control device (1) and velocity feed forward controller (7), speed observer (9) connection speed controller (2), velocity feed forward controller (7) connects feed forward of acceleration controller (8), speed control (2) and feed forward of acceleration controller (8), speed observer (9) connects current controller (3), current controller (3) connects motor processing unit (4) and speed observer (9), motor processing unit (4) connects scrambler (5), and scrambler (5) connects harmonic speed reducer (6) and speed observer (9).
4, a kind of electric machine position servo device according to claim 1 based on DSP, it is characterized in that: programmable logic device (PLD) U2 adopts the CPLDXC9536XL chip, its filter shape is partly distinguished GPIO and the QEPs part of linking number word signal processor U1, the 2-8 pin of CPLD chip is PWM6-PWM1 output, connecting resistance R 37-R42 respectively arrives+the 3.3V power supply, 7 pin are the T1 pin of PWM, 35 pin are the T2 pin of PWM, 9 pin are the DRIVE pin, 10,23,31 pin meet DGND, 15 pin are the TDI_CPLD input, 30 pin are TDO_CPLD output, 16 pin are the TMS_CPLD pin, 17 pin are the TCK_CPLD pin, 20 pin are the HV_S pin, 22 pin are the LV_S pin, 24 pin connect switch S 1, capacitor C 48 to DGND, connecting resistance R 103 arrives+the 3.3V power supply, 21,32,41 pin connection+3.3V power supplys, 25-29,33 pin are PWM6O, PWM4O, PWM2O, PWM5O, PWM3O and PWM1O pin, 38 pin are the IPMF_S pin, 39 pin are the BREAK pin, the TCK1 pin of the JTAG-CPLD chip of programmable logic device (PLD) is the TCK_CPLD pin, the GND2 pin meets DGND, the TDI3 pin is the TDI_CPLD pin, and the VCC4 pin connects+the 5V power supply, and the TMS5 pin is the TMS_CPLD pin, the TDO9 pin is the TDO_CPLD pin, and capacitor C 54-C56 connection+3.3V is to DGND.
5; a kind of electric machine position servo device according to claim 4 based on DSP; it is characterized in that: be provided with the unit protection circuit in the programmable logic device (PLD) U2; input signal busbar voltage IPMP connects resistance R 81 in the unit protection circuit; R82 is to amplifier U8A and amplifier U8B; connect resistance R 83; capacitor C 35 to P_GND; amplifier U8A connects resistance R 74; capacitor C 11 to P_GND; resistance R 32 to VCC+15V; the output of amplifier U8A connects resistance R 32 to VCC+15V; resistance R 71 is to triode Q5 base electrode; triode Q5 cascode level is to P_GND; collector output connects resistance R 53 to the O1 unit; the O1 unit connects resistance R 14 to VCC+5V; output connects over voltage alarm signal HV_S; amplifier U8B connects resistance R 55; capacitor C 12 to P_GND; resistance R 90 to VCC+15V; the output of amplifier U8B connects resistance R 75 to VCC+15V; resistance R 72 is to triode Q6 base electrode; triode Q6 cascode level is to P_GND; collector output connects resistance R 54 to the O2 unit, and the O2 unit connects resistance R 16 to VCC+5V; output connects undervoltage warning signal LV_S.
6, a kind of electric machine position servo device based on DSP according to claim 1, it is characterized in that: storer U3 is the SRAM storer.
7, a kind of electric machine position servo device based on DSP according to claim 1, it is characterized in that: communication interface U4 is the CAN mouth.
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