CN201371945Y - Electric steering engine controller based on FPGA - Google Patents

Electric steering engine controller based on FPGA Download PDF

Info

Publication number
CN201371945Y
CN201371945Y CN200820233842U CN200820233842U CN201371945Y CN 201371945 Y CN201371945 Y CN 201371945Y CN 200820233842 U CN200820233842 U CN 200820233842U CN 200820233842 U CN200820233842 U CN 200820233842U CN 201371945 Y CN201371945 Y CN 201371945Y
Authority
CN
China
Prior art keywords
module
fpga
signal
data
digital
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
CN200820233842U
Other languages
Chinese (zh)
Inventor
吴泽勇
陈帅
李天义
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
FENGHUO MACHINE WORKS OF CHINA AEROSPACE SCIENCE AND TECHNOLOGY Corp
Original Assignee
FENGHUO MACHINE WORKS OF CHINA AEROSPACE SCIENCE AND TECHNOLOGY Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by FENGHUO MACHINE WORKS OF CHINA AEROSPACE SCIENCE AND TECHNOLOGY Corp filed Critical FENGHUO MACHINE WORKS OF CHINA AEROSPACE SCIENCE AND TECHNOLOGY Corp
Priority to CN200820233842U priority Critical patent/CN201371945Y/en
Application granted granted Critical
Publication of CN201371945Y publication Critical patent/CN201371945Y/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

Landscapes

  • Power Steering Mechanism (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The utility model relates to an electric steering engine controller based on FPGA, comprising an FPGA module, a power module, a digital communication module, a signal condition and A/D conversion module and an electric motor driving module. The electric steering engine controller adopts the FPGA to increase system performance by continuously improving a control algorithm, can realize the integrative control of a multiway steering engine, has high integration level, reliable performance and system mensurability and radically solves the problem of signal attenuation and interference caused by the analog signal transmission of the analog type electric steering engine controller.

Description

Electromechanical Actuator Controller based on FPGA
Technical field
The utility model relates to the electronic steering engine controller of aircraft, particularly relates to a kind of high integration based on the FPGA realization, highly reliable, aircraft multichannel steering wheel is realized the digital electronic steering engine controller of integrated control.
Background technology
Steering gear system is to fly one of crucial subsystem of controlling actuating system, and the raising of its various performances is important steps of further improving the flight control system performance.In recent years, electric steering gear is simple and reliable with it, cost is low, be easy to characteristic such as control has obtained using widely.In order to improve the maneuverability of aircraft, make it finish more complicated aerial mission, just need the more performance-oriented electric steering gear Fu of research and development, make its corner that can control steering wheel apace, farthest realize the dynamic property of electric steering gear.
At present, Electromechanical Actuator Controller is embodied as the master with simulation, adopts op amp to realize that PID computing and PWM wave mode generate.Its principle of work is: will control analog signal and feedback analog signal is poor by the op amp add circuit; Difference is sent into ratio circuit, integrating circuit and the differential circuit of forming by op amp respectively; Again the summation of three road signals is obtained the PID operation result, must add the respective phase corrective network in the circuit.If many ring controls are then formed many ring PID arithmetical circuits by a plurality of above-mentioned PID arithmetical circuits.Then, triangular-wave generator signal and the PID operation result signal be made up of the op amp oscillating circuit are admitted to the op amp comparator circuit, draw the PWM waveform signal.By the power amplification circuit drive motor, realize steering wheel control at last.Though use analog line the level and smooth advantage of control to be arranged as controller; but also have many intrinsic shortcomings, the use of, restriction new control method big as the control path volume, circuit parameter variations is big to the properties influence of servo loop, the servo loop testability is poor, poor reliability, switch protecting logic complexity, redundancy management complexity etc.
It is following a kind of trend that Electromechanical Actuator Controller adopts digital control technology.The FPGA device is that the user-programmable characteristic with the advantage of the gate-array circuit of semi-custom and programmable logic device (PLD) combines, make it not only comprise a large amount of gate circuits, speed is fast, low in energy consumption, make the design-calculated electronic product can realize miniaturization, integrated and high reliability, and device have the user-programmable characteristic.Only just can construct many electronic systems, not only can replace traditional digital integrated circuit, but also can replace the general PLD device and the ASIC of semi-custom, be applicable to the design of complication system with a slice fpga chip.Along with improving and the continuous expansion of scale of FPGA function, at the inner just energy of FPGA systematic function powerful CPU nuclear and DSP nuclear, the user just can make up like a cork not only possesses the multitask real time operating system (RTOS) of response fast, and the powerful single-chip servo-control unit that can carry out concurrent processing apace to data.
The utility model content
Technology of the present utility model is dealt with problems and is: overcome the deficiencies in the prior art, provide that a kind of circuit based on FPGA is simple, good reliability, Electromechanical Actuator Controller that integrated level is high.
Technical solution of the present utility model is: based on the Electromechanical Actuator Controller of FPGA, comprise the FPGA module, power module, digital communications module, signal condition and A/D modular converter and motor drive module, power module respectively with the FPGA module, digital communications module, signal condition and A/D modular converter link to each other with motor drive module and corresponding power supply are provided, FPGA module and digital communications module, signal condition and A/D modular converter and motor drive module data line connect, and control figure communication module, signal condition and A/D modular converter and motor drive module, signal condition and A/D modular converter are to be transferred to the FPGA module after the digital signal with the analog signal conversion of upper computer analog voltage signal and steering wheel angular-motion transducer, the digital signal of upper computer is transferred to the FPGA module after directly entering digital communications module, after the FPGA module receives digital signal, carrying out data parallel handles, the FPGA module is delivered to motor drive module with the signal of handling well, motor drive module is according to the signal of FPGA module input, form H bridge or three-phase bridge drive signal, drive the multichannel steering wheel.
Described FPGA module comprises control center's module, the RAM module, the UART module, the 1553b module, A/D controlling of sampling and digital filtering module, fault detection module, the state indicating module, PWM generation module and PID computing module, control center's module respectively with the RAM module, the UART module, the 1553b module, A/D controlling of sampling and digital filtering module, fault detection module, the state indicating module is connected with PID computing module data line, the PID computing module links to each other with PWM generation module data line, the data transfer of control center's each intermodule of module controls, the UART module, the digital signal that the 1553b module is imported into according to digital communications module transmits to control center's module and reads or writes request of data, control center delivers to the UART module with corresponding data in the RAM module, the 1553b module maybe writes the data that transmit relevant position in the RAM module and sends into the PID computing module, A/D controlling of sampling and digital filtering module will be given PID computing module from control and feedback data that signal condition and A/D modular converter obtain, simultaneously data are write relevant position in the RAM module via control center, the PID computing module is regulated parameter in conjunction with the PID that obtains from the RAM module by control center the data that receive is carried out the PID computing and the result of PID computing is sent to the PWM module, the PWM module is according to the result of PID computing and the motor start and stop instruction of obtaining from the RAM module by control center, control multichannel steering wheel.
Described power module comprises DC/DC power module and two-way low difference voltage regulator LDO, the DC/DC power module is connected with low difference voltage regulator, two-way low difference voltage regulator LDO parallel connection, the DC/DC power module is 15VDC and 5VDC with the 28VDC power source conversion, and two-way low difference voltage regulator LDO is converted into 3.3VDC and 1.5VDC with 5VDC.
Described digital communications module comprises the 1553b bus communication interface and the UART communication interface of RT mode of operation, and two interfaces work alone.
Described signal condition and A/D modular converter are made up of TLV2374 chip, HEF4051 chip, ADS7818 chip and auxiliary circuit, two TLV2374 chips are given A/D conversion that ADS7818 finish multi-path signal by the HEF4051 timesharing with signal with four road analog signal conditioners to the 0～5VDC of upper computer four road analog voltage signals and steering wheel angular-motion transducer.
Described motor drive module is made up of multi-disc three-phase bridge chip for driving and power switch pipe and auxiliary circuit, three-phase bridge chip for driving and auxiliary circuit are converted into the required upper and lower brachium pontis drive signal of power switch pipe with the control signal of FPGA module input, and the sampling resistor that the total current of the three phase bridge circuit of being made up of power switch pipe is passed through power switch pipe returns the current signal transmission to the three-phase bridge chip for driving.
The utility model compared with prior art beneficial effect is:
(1) the utility model adopts the FPGA module, and control algorithm is realized by software, can constantly improve control algorithm and improve system performance, and this improvement only relates to software, does not change or seldom change hardware, thereby realizes being very easy to, and inheritance is good;
(2) the utility model adopts the FPGA module can realize the integrated control of multichannel steering wheel, with respect to the steering engine controller of a plurality of analog devices realization control algorithms, integrated level height, dependable performance;
(3) FPGA module of the present utility model is by communication interface connection control system and intelligentized automatic test equipment, under the support of test software, debug, and with the optimal parameter curing of debugging, this cure parameter does not change in time, makes stable performance, the unanimity of control system;
(4) the utility model adopts digital communication can fundamentally solve caused signal attenuation of analog signal transmission and cross-interference issue;
(5) the utility model adopts the FPGA module to have the characteristic of user-programmable.
Description of drawings
Fig. 1 is a structural representation of the present utility model;
Fig. 2 is a FPGA modular construction scheme drawing of the present utility model;
Fig. 3 is a FPGA peripheral circuit schematic diagram of the present utility model;
Fig. 4 is a FPGA peripheral circuit schematic diagram of the present utility model;
Fig. 5 is a FPGA peripheral circuit schematic diagram of the present utility model;
Fig. 6 is a power module schematic diagram of the present utility model;
Fig. 7 is a digital communications module schematic diagram of the present utility model;
Fig. 8 is signal condition of the present utility model and A/D modular converter schematic diagram;
Fig. 9 is a motor drive module schematic diagram of the present utility model.
The specific embodiment
As shown in Figure 1, the Electromechanical Actuator Controller based on FPGA comprises FPGA module 1, power module 2, digital communications module 3, signal condition and A/D modular converter 4 and four road motor drive modules 5.Power module 2 links to each other with other four kinds of modules respectively, and corresponding power supply is provided; FPGA module 1 links to each other with digital communications module 3, signal condition and A/D modular converter 4 and motor drive module 5, and each module is realized control.
FPGA module 1 is made of fpga chip and peripheral circuit, the inner data parallel that adopts is handled, finish the multi-task simultaneously high-speed and high-efficiency, realize the servo control algorithm and the trouble diagnosing of digital communication, acquisition of signal, digital filter, multichannel steering wheel, control other each module work.The inner as shown in Figure 2 employing modular design of fpga chip, form by a plurality of functional modules, comprise control center's module 6, RAM module 7, UART module 8,1553b module 9, A/D controlling of sampling and digital filtering module 10, fault detection module 11, state indicating module 12, PWM generation module 13 and PID computing module 14.
Control center 6 is the internal core of FPGA, takes on the data coordination role, coordinates other functional module normal operation, controls the data transfer of each intermodule.When from UART module or 1553b module forward data read-write requests, control center just delivers to UART module or 1553b module with corresponding data in the RAM module, perhaps data is write relevant position in the RAM module; Control that A/D controlling of sampling and digital filtering module obtain and feedback data also can write relevant position in the RAM module to data via control center when giving each PID computing module.The required PID of PID computing module regulates parameter and obtains from the RAM module at interval by certain hour by control center equally.The required motor start and stop instruction of PWM module also is to obtain from the RAM module by control center.Control center is by the data transfer conflict of timing allocation and each module of priority control and treatment.
RAM 7 is the dual port random access internal memory of 128 bytes, and various communication datas, A/D sampled data, operational factor, PID computing parameter etc. all deposit in the RAM7 in real time.
UART 8 is UART Universal Asynchronous Receiver Transmitter protocol modules, realizes communicating by letter with PC online query or change operational factor, PID computing parameter etc.1553b 9 is an interior of aircraft time-devision system command formula multiplexed data bus protocol module, is remote terminal (RT) operational module, realizes and the digital communication of missile-borne computer, controls each road steering wheel deflection and returns the steering wheel running state parameter.UART module 8 and 1553b module 9 have been formed the digital communication part of FPGA module 1.Because the FPGA hardware configuration is by designer's generation of programming, according to the missile-borne computer communicating requirement, can realize as data communication protocols such as parity check, redundanat code verification, Error Corrections of Coding, can realize the deciphering and the specific appointment feedback of various particular data instructions, all data handings are realized that by hardware real-time is good.
A/D controlling of sampling and digital filter 10 are realized the acquisition time of multichannel analog signals is finished in A/D converter and multi-channel gating device control.A/D controlling of sampling and digital filtering module 10 can realize flexibly that clock signal, control signal and the data of parallel A/D chip or serial a/d chip are obtained because the FPGA interface can freely be worked out.Under response time permission situation, can control the road by FPGA and select device to realize the multichannel analog signals collection of single piece of A/D chip.A/D controlling of sampling and digital filtering module also carry out data filtering to the signal of gathering.Because control command and the present usual way of displacement pickup still are low-frequency voltage signal, being vulnerable to system's other parts disturbs, A/D sampling itself also can be introduced noise in addition, digital signal after the A/D conversion is carried out filtering, can play supplementary function to analogue filter circuit, reduce actual signal better.According to difference to noisiness, adopt medium filtering or FIR filtering, realize the signal reduction.
Fault detection module 11 is handled signals such as under-voltages, over voltage, excess current, steering wheel angle are unusual, realizes that fault reports and system protection.11 pairs of each operational factors of fault detection module are realized intelligent decision, if when fatal abnormal condition occurring, FPGA will import configuration file again and restart system.Continuous several times is restarted system and still is faulty condition, then stops the output of PWM module 13, waits for the upper computer processing.
Two LED light flashing modes of state indication 12 controls, the difference by two LED lamp combination flicker frequencies characterizes different running statees.Make things convenient for system debug, form product and can cancel this part circuit.
PID computing module 14 is arithmetic core parts of FPGA module 1, adopts advanced digital PID algorithm to realize the closed loop control of multichannel steering wheel.The data-handling capacity that FPGA is powerful makes some complicated algorithm digitalisations such as modern control theory, fuzzy control theory and neural network theory be achieved, and control policy is optimized, for the High Performance Fu provides the realization means.Steering engine controller by FPGA realizes can adopt segmentation pid algorithm or fuzzy parameter from adjusting pid algorithm according to flight environment of vehicle characteristic and reliability requirement, later on by revising the renewable more advanced control algorithm of FPGA program.Steering wheel control is to adopt position closed loop, speed closed loop, excess current time limitation comprehensively to realize.
PWM generation module 13 has multichannel, is that the PID operation result with each road is converted into " H " bridge or three-phase bridge drive signal.Each output signal is a pulse-width signal, according to the difference of motor characteristic or applicable cases, can be bipolarity pulse-width signal or unipolarity pulse-width signal, satisfies rapidity demand or low-power consumption demand respectively.
The inside of FPGA module 1 is driven by the global clock signal, each functional module concurrent processing.When adopting the work of analog communication pattern, each road command voltage signal and steering wheel feedback voltage signal enter PID computing module 14 by A/D controlling of sampling 10 through control center 6, the quantification difference of controlled instruction and feedback position, PID computing module 14 obtains PID computing parameter by control center 6 from the various initial values in the RAM7, send into PWM generation module 13 by the controlling quantity that 14 computings of PID computing module obtain, difference according to the motor mode value among the RAM7, obtain brush motor " H " bridge drive signal, or brshless DC motor pattern, in conjunction with hall signal, obtain the three-phase bridge drive signal.When adopting the work of digital communication pattern, directly through control center 6 value of each road control command is sent into PID computing module 14 by UART8 or 1553b9.
The parameter value of each module of FPGA module 1 is to obtain from RAM7 by control center 6 under fixed frequency, running state parameter also can write RAM7 by certain frequency, therefore can change the memory value of RAM7 by UART8 or 1553b9, thus the adjusting control parameter.Also can read running state in addition by UART8 or 1553b9.The data exchange of each module and RAM7 is coordinated to finish by control center 6.Fault detection module 11 obtains circuit running condition from motor drive module 5, from 14 controlled instructions of PID computing module and feedback position signal, judges by predefined situation whether system's operation is normal, and sends upper computer back to by UART8 or 1553b9.Restart system when fatal situation occurring, repeatedly restart still error situation and close driving circuit, wait for that upper computer does further operation.
FPGA module 1 is made of the EP1C6T144I7 chip and the peripheral circuit of altera corp, and peripheral circuit is shown in Fig. 3,4,5.Each function of its in-to-in all adopts VHDL or Verilog HDL hardware description language to write generation, does not relate to the IP kernel of other company.
Power module 2 is finished the conversion of the required various voltages of controller.As shown in Figure 6, comprise DC/DC power module and two-way low difference voltage regulator, the DC/DC power module is connected with low difference voltage regulator, two-way low difference voltage regulator LDO parallel connection.Be 15VDC and 5VDC by the DC/DC power module with the 28VDC power source conversion earlier, by low difference voltage regulator LDO 5VDC be converted into 3.3VDC and 1.5VDC again.Power module 2 adopts the 4NIC-DC6 conv and the low difference voltage regulator of Chaoyang power supply factory.
Digital communications module 3 realizes functions such as signal voltage conversion, communication isolation.As shown in Figure 7, comprise 1553b interface chip and peripheral circuit and UART interface chip and peripheral circuit, 1553b communication is the RT mode of operation.Digital communications module 3 adopts the HI-1567 interface chip.
The collection and the transmission of signal condition and A/D modular converter 4 completion bit displacement sensor acquisition of signals and analog communication signal.The steering engine controller analog communication signal be multichannel-10V～+ the 10V voltage signal, represent Ge Lu steering wheel corresponding angle respectively.Signal condition and A/D modular converter 4 realized receiving upper computers simulation control command voltage signals and returned the analog voltage signal of each real-time angle position of steering wheel, road to upper computer, also finishes the analogue to digital conversion to steering wheel angular-motion transducer signal.For reducing of the interference of system's other parts, adopt ADuM1400 series digit isolator to realize isolating between signal condition and A/D modular converter 4 and the FPGA module 1 to analog signal.As shown in Figure 8, signal condition and A/D modular converter 4 are made up of the ADS7818 of BB company, HEF4051, op amp TLV2374 and the auxiliary circuit of Philips company, realize the time sharing sampling of each analog signal under FPGA control.
Motor drive module 5 is made up of multi-disc three-phase bridge chip for driving, auxiliary circuit and power switch pipe, and three-phase bridge chip for driving and bootstrap circuit are converted into the required upper and lower brachium pontis drive signal of power switch pipe with weak control signal; The total current of the three phase bridge circuit that power switch pipe is formed returns the current signal transmission to the three-phase bridge chip for driving through sampling resistor.According to the difference of incoming signal, motor drive module can be H bridge or three-phase bridge, realizes that multichannel has the driving of brush DC servo motor or brushless DC servomotor.Each output signal is a pulse-width signal, according to the difference of motor characteristic or applicable cases, can be bipolarity pulse-width signal or unipolarity pulse-width signal, satisfies rapidity demand or low-power consumption demand respectively.As shown in Figure 9, motor drive module 5 is made up of the IRS2136 of multichannel same structure IR company and IRFS4710 and auxiliary circuit, realizes motor-driven.
The unspecified part of the utility model belongs to general knowledge as well known to those skilled in the art.

Claims (9)

1, Electromechanical Actuator Controller based on FPGA, it is characterized in that: comprise FPGA module (1), power module (2), digital communications module (3), signal condition and A/D modular converter (4) and motor drive module (5), power module (2) respectively with FPGA module (1), digital communications module (3), signal condition and A/D modular converter (4) link to each other with motor drive module (5) and corresponding power supply are provided, FPGA module (1) and digital communications module (3), signal condition and A/D modular converter (4) and motor drive module (5) data line connect, and control figure communication module (3), signal condition and A/D modular converter (4) and motor drive module (5), signal condition and A/D modular converter (4) are to be transferred to FPGA module (1) after the digital signal with the analog signal conversion of upper computer analog voltage signal and steering wheel angular-motion transducer, the digital signal of upper computer is transferred to FPGA module (1) after directly entering digital communications module (3), after FPGA module (1) receives digital signal, carrying out data parallel handles, FPGA module (1) is delivered to motor drive module (5) with the signal of handling well, motor drive module (5) is according to the signal of FPGA module (1) input, form H bridge or three-phase bridge drive signal, drive the multichannel steering wheel.
2, Electromechanical Actuator Controller based on FPGA according to claim 1, it is characterized in that: described FPGA module (1) comprises control center's module (6), RAM module (7), UART module (8), 1553b module (9), A/D controlling of sampling and digital filtering module (10), fault detection module (11), state indicating module (12), PWM generation module (13) and PID computing module (14), control center's module (6) respectively with RAM module (7), UART module (8), 1553b module (9), A/D controlling of sampling and digital filtering module (10), fault detection module (11), state indicating module (12) is connected with PID computing module (14) data line, PID computing module (14) links to each other with PWM generation module (13) data line, control center's module (6) is controlled the data transfer of each intermodule, UART module (8), the digital signal that 1553b module (9) is imported into according to digital communications module (3) transmits to control center's module (6) and reads or writes request of data, control center (6) delivers to UART module (8) with corresponding data in the RAM module (7), 1553b module (9) maybe writes the data that transmit relevant position in the RAM module (7) and sends into PID computing module (14), A/D controlling of sampling and digital filtering module (10) will be given PID computing module (14) from control and feedback data that signal condition and A/D modular converter (4) obtain, simultaneously data are write relevant position in the RAM module (7) via control center (6), PID computing module (14) carries out the PID computing and the result of PID computing is sent to PWM module (13) the data that receive in conjunction with the PID adjusting parameter of obtaining from RAM module (7) by control center (6), PWM module (13) is according to the result of PID computing and the motor start and stop instruction of obtaining from RAM module (7) by control center (6), control multichannel steering wheel.
3, the Electromechanical Actuator Controller based on FPGA according to claim 1, it is characterized in that: described power module (2) comprises DC/DC power module and two-way low difference voltage regulator LDO, the DC/DC power module is connected with low difference voltage regulator, two-way low difference voltage regulator LDO parallel connection, the DC/DC power module is 15VDC and 5VDC with the 28VDC power source conversion, and two-way low difference voltage regulator LDO is converted into 3.3VDC and 1.5VDC with 5VDC.
4, the Electromechanical Actuator Controller based on FPGA according to claim 1 is characterized in that: described digital communications module (3) comprises the 1553b bus communication interface and the UART communication interface of RT mode of operation, and two interfaces work alone.
5, the Electromechanical Actuator Controller based on FPGA according to claim 1, it is characterized in that: described signal condition and A/D modular converter (4) are made up of TLV2374 chip, HEF4051 chip, ADS7818 chip and auxiliary circuit, two TLV2374 chips are given A/D conversion that ADS7818 finish multi-path signal by the HEF4051 timesharing with signal with four road analog signal conditioners to the 0～5VDC of upper computer four road analog voltage signals and steering wheel angular-motion transducer.
6, the Electromechanical Actuator Controller based on FPGA according to claim 1, it is characterized in that: described motor drive module (5) is made up of multi-disc three-phase bridge chip for driving and power switch pipe and auxiliary circuit, three-phase bridge chip for driving and auxiliary circuit are converted into the required upper and lower brachium pontis drive signal of power switch pipe with the control signal of FPGA module (1) input, and the sampling resistor that the total current of the three phase bridge circuit of being made up of power switch pipe is passed through power switch pipe returns the current signal transmission to the three-phase bridge chip for driving.
7, the Electromechanical Actuator Controller based on FPGA according to claim 3 is characterized in that: the EP1C6T144I7 chip that described FPGA module (1) adopts VHDL or Verilog HDL hardware description language to write.
8, the Electromechanical Actuator Controller based on FPGA according to claim 1 is characterized in that: adopt ADuM1400 series digit isolator to isolate between described signal condition and A/D modular converter (4) and the FPGA module (1).
9, the Electromechanical Actuator Controller based on FPGA according to claim 1 is characterized in that: described digital communications module (3) adopts the HI-1567 interface chip.
CN200820233842U 2008-12-29 2008-12-29 Electric steering engine controller based on FPGA Expired - Lifetime CN201371945Y (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN200820233842U CN201371945Y (en) 2008-12-29 2008-12-29 Electric steering engine controller based on FPGA

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN200820233842U CN201371945Y (en) 2008-12-29 2008-12-29 Electric steering engine controller based on FPGA

Publications (1)

Publication Number Publication Date
CN201371945Y true CN201371945Y (en) 2009-12-30

Family

ID=41498028

Family Applications (1)

Application Number Title Priority Date Filing Date
CN200820233842U Expired - Lifetime CN201371945Y (en) 2008-12-29 2008-12-29 Electric steering engine controller based on FPGA

Country Status (1)

Country Link
CN (1) CN201371945Y (en)

Cited By (48)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101908850A (en) * 2010-08-06 2010-12-08 中国人民解放军国防科学技术大学 Universal controller of magnetic suspension bearing
CN102053570A (en) * 2010-10-29 2011-05-11 中国兵器工业集团第二一四研究所苏州研发中心 Single-chip digital controller for electric steering engine and unipolar and dipolar modulation control method
CN102717889A (en) * 2012-06-01 2012-10-10 湖南山河科技股份有限公司 Flap control method and device of light airplane
CN102788956A (en) * 2012-08-21 2012-11-21 中国航天科技集团公司烽火机械厂 Testing device and testing method of electric steering engine
CN102837821A (en) * 2012-08-27 2012-12-26 中国航天科技集团公司第四研究院四0一所 Controller of steering engine
CN102854814A (en) * 2012-04-28 2013-01-02 中国航天科技集团公司烽火机械厂 Digital steering engine controller
CN103076752A (en) * 2012-12-26 2013-05-01 上海云杉信息科技有限公司 Steering-engine controller, steering-engine controlling method and controlling system
CN103092212A (en) * 2013-01-08 2013-05-08 天津大学 Emulation verification platform and implementing method of micro-satellite team formation system
CN103455376A (en) * 2012-06-20 2013-12-18 微软公司 Managing use of a field programmable gate array by multiple processes in an operating system
CN103592908A (en) * 2013-10-16 2014-02-19 中国运载火箭技术研究院 Air vehicle integrated testing system based on 1553B bus
CN104192300A (en) * 2014-04-22 2014-12-10 中国商用飞机有限责任公司北京民用飞机技术研究中心 A flight control system and a method
CN104345229A (en) * 2013-08-05 2015-02-11 哈尔滨飞机工业集团有限责任公司 Parallel steering engine tester
CN104570820A (en) * 2013-10-29 2015-04-29 北京精密机电控制设备研究所 1553B bus communication system with 4M Baud rate
CN104698934A (en) * 2015-02-27 2015-06-10 福建工程学院 Method for acquiring and processing remote control information of unmanned aerial vehicle steering engines based on FPGA
CN104742757A (en) * 2015-03-31 2015-07-01 东北大学 Electric vehicle control system and method based on FPGA
CN104960659A (en) * 2015-07-20 2015-10-07 哈尔滨工业大学 Steering engine directly driven by piezoelectric motors
CN105094019A (en) * 2015-08-31 2015-11-25 广州供电局有限公司 High-voltage power electronic control device and control method thereof
CN105278393A (en) * 2014-07-17 2016-01-27 北京自动化控制设备研究所 Controller circuit for electric rudder system
CN103112576B (en) * 2013-01-08 2016-03-30 中国船舶重工集团公司第七一○研究所 A kind of servos control method
CN106059966A (en) * 2015-04-16 2016-10-26 空中客车运营简化股份公司 Electronic circuit card and corresponding signal acquisition and generation system, including programmable digital matrix switches
CN106227290A (en) * 2016-07-25 2016-12-14 深圳市乐信兴业科技有限公司 A kind of aircraft energy-saving control method and system
CN106292349A (en) * 2015-05-28 2017-01-04 上海能感物联网有限公司 The method of Chinese language text remote-controlled steering engine
CN106292401A (en) * 2015-05-28 2017-01-04 上海能感物联网有限公司 A kind of helm gear of unspecified person foreign language voice remote control
CN106292694A (en) * 2015-05-28 2017-01-04 上海能感物联网有限公司 A kind of helm gear of Chinese speech field control
CN106292348A (en) * 2015-05-28 2017-01-04 上海能感物联网有限公司 The method of Chinese speech field control steering wheel
CN106293112A (en) * 2015-05-28 2017-01-04 上海能感物联网有限公司 A kind of helm gear of unspecified person foreign language voice field control
CN106292347A (en) * 2015-05-28 2017-01-04 上海能感物联网有限公司 The method of Chinese speech remote-controlled steering engine
CN106292692A (en) * 2015-05-28 2017-01-04 上海能感物联网有限公司 A kind of helm gear of Chinese language text remote control
CN106292350A (en) * 2015-05-28 2017-01-04 上海能感物联网有限公司 A kind of helm gear of Chinese language text field control
CN106292688A (en) * 2015-05-28 2017-01-04 上海能感物联网有限公司 The method of unspecified person foreign language voice remote control steering wheel
CN106292400A (en) * 2015-05-28 2017-01-04 上海能感物联网有限公司 A kind of helm gear of foreign language nature this field control of Chinese language
CN106292339A (en) * 2015-05-28 2017-01-04 上海能感物联网有限公司 The method of foreign language nature this remote-controlled steering engine of Chinese language
CN106292693A (en) * 2015-05-28 2017-01-04 上海能感物联网有限公司 The method of foreign language nature Chinese language this field control steering wheel
CN106292691A (en) * 2015-05-28 2017-01-04 上海能感物联网有限公司 A kind of helm gear of Chinese speech remote control
CN106292399A (en) * 2015-05-28 2017-01-04 上海能感物联网有限公司 The method of unspecified person foreign language voice field control steering wheel
CN106292689A (en) * 2015-05-28 2017-01-04 上海能感物联网有限公司 A kind of helm gear of foreign language nature this remote control of Chinese language
CN106292690A (en) * 2015-05-28 2017-01-04 上海能感物联网有限公司 The method of Chinese language text field control steering wheel
CN106374812A (en) * 2016-11-09 2017-02-01 中车大连电力牵引研发中心有限公司 Electric motor protection device
CN107748519A (en) * 2017-11-02 2018-03-02 中国航天科技集团公司烽火机械厂 A kind of driving control system and its controller used and control method
CN108181853A (en) * 2018-01-16 2018-06-19 合肥华宇智航动力能源有限公司 A kind of yacht steering-engine control system and control method
CN108227537A (en) * 2016-12-14 2018-06-29 中国航空工业集团公司西安航空计算技术研究所 A kind of aircraft stepper motor servo-control system and method based on RVDT position feedbacks
CN108267981A (en) * 2017-12-14 2018-07-10 中国电子科技集团公司第三十二研究所 Dual-channel electric servo control system based on antifuse type FPGA
CN108469726A (en) * 2018-03-19 2018-08-31 南开大学 A kind of variable parameter PID motion controller implementation method based on EthernetPowerlink
CN108762128A (en) * 2018-04-13 2018-11-06 大族激光科技产业集团股份有限公司 Electrical control integrated system and device
CN109683532A (en) * 2019-01-08 2019-04-26 上海应用技术大学 A kind of steering engine and more steering engine controllers and unmanned aerial vehicle control system
CN111399416A (en) * 2020-03-26 2020-07-10 西安微电子技术研究所 Double-shaft steering engine controller based on MCU processor
CN111874213A (en) * 2020-06-28 2020-11-03 重庆乐吧便捷科技有限公司 Steering engine driving module
CN111897750A (en) * 2020-08-07 2020-11-06 航天科工微电子系统研究院有限公司 SoC chip structure applied to steering engine control system

Cited By (58)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101908850A (en) * 2010-08-06 2010-12-08 中国人民解放军国防科学技术大学 Universal controller of magnetic suspension bearing
CN101908850B (en) * 2010-08-06 2014-07-23 中国人民解放军国防科学技术大学 Universal controller of magnetic suspension bearing
CN102053570A (en) * 2010-10-29 2011-05-11 中国兵器工业集团第二一四研究所苏州研发中心 Single-chip digital controller for electric steering engine and unipolar and dipolar modulation control method
CN102854814A (en) * 2012-04-28 2013-01-02 中国航天科技集团公司烽火机械厂 Digital steering engine controller
CN102717889A (en) * 2012-06-01 2012-10-10 湖南山河科技股份有限公司 Flap control method and device of light airplane
CN103455376A (en) * 2012-06-20 2013-12-18 微软公司 Managing use of a field programmable gate array by multiple processes in an operating system
CN102788956A (en) * 2012-08-21 2012-11-21 中国航天科技集团公司烽火机械厂 Testing device and testing method of electric steering engine
CN102788956B (en) * 2012-08-21 2015-01-07 中国航天科技集团公司烽火机械厂 Testing device and testing method of electric steering engine
CN102837821B (en) * 2012-08-27 2014-07-09 中国航天科技集团公司第四研究院四0一所 Controller of steering engine
CN102837821A (en) * 2012-08-27 2012-12-26 中国航天科技集团公司第四研究院四0一所 Controller of steering engine
CN103076752A (en) * 2012-12-26 2013-05-01 上海云杉信息科技有限公司 Steering-engine controller, steering-engine controlling method and controlling system
CN103076752B (en) * 2012-12-26 2015-03-18 上海云杉信息科技有限公司 Steering-engine controller, steering-engine controlling method and controlling system
CN103092212A (en) * 2013-01-08 2013-05-08 天津大学 Emulation verification platform and implementing method of micro-satellite team formation system
CN103112576B (en) * 2013-01-08 2016-03-30 中国船舶重工集团公司第七一○研究所 A kind of servos control method
CN103092212B (en) * 2013-01-08 2015-09-30 天津大学 The simulation and verification platform of micro-gastric carcinoma system and implementation method
CN104345229A (en) * 2013-08-05 2015-02-11 哈尔滨飞机工业集团有限责任公司 Parallel steering engine tester
CN104345229B (en) * 2013-08-05 2017-12-12 哈尔滨飞机工业集团有限责任公司 Steering wheel exerciser in parallel
CN103592908A (en) * 2013-10-16 2014-02-19 中国运载火箭技术研究院 Air vehicle integrated testing system based on 1553B bus
CN103592908B (en) * 2013-10-16 2015-11-04 中国运载火箭技术研究院 A kind of aircraft integrated measurement system based on 1553B bus
CN104570820A (en) * 2013-10-29 2015-04-29 北京精密机电控制设备研究所 1553B bus communication system with 4M Baud rate
CN104192300A (en) * 2014-04-22 2014-12-10 中国商用飞机有限责任公司北京民用飞机技术研究中心 A flight control system and a method
CN104192300B (en) * 2014-04-22 2019-02-19 中国商用飞机有限责任公司北京民用飞机技术研究中心 A kind of flight control system and method
CN105278393A (en) * 2014-07-17 2016-01-27 北京自动化控制设备研究所 Controller circuit for electric rudder system
CN104698934A (en) * 2015-02-27 2015-06-10 福建工程学院 Method for acquiring and processing remote control information of unmanned aerial vehicle steering engines based on FPGA
CN104742757A (en) * 2015-03-31 2015-07-01 东北大学 Electric vehicle control system and method based on FPGA
CN106059966B (en) * 2015-04-16 2020-11-24 空中客车运营简化股份公司 Electronic card containing programmable digital array change-over switch and signal generating and acquiring system
CN106059966A (en) * 2015-04-16 2016-10-26 空中客车运营简化股份公司 Electronic circuit card and corresponding signal acquisition and generation system, including programmable digital matrix switches
CN106292401A (en) * 2015-05-28 2017-01-04 上海能感物联网有限公司 A kind of helm gear of unspecified person foreign language voice remote control
CN106292690A (en) * 2015-05-28 2017-01-04 上海能感物联网有限公司 The method of Chinese language text field control steering wheel
CN106292694A (en) * 2015-05-28 2017-01-04 上海能感物联网有限公司 A kind of helm gear of Chinese speech field control
CN106292348A (en) * 2015-05-28 2017-01-04 上海能感物联网有限公司 The method of Chinese speech field control steering wheel
CN106293112A (en) * 2015-05-28 2017-01-04 上海能感物联网有限公司 A kind of helm gear of unspecified person foreign language voice field control
CN106292347A (en) * 2015-05-28 2017-01-04 上海能感物联网有限公司 The method of Chinese speech remote-controlled steering engine
CN106292692A (en) * 2015-05-28 2017-01-04 上海能感物联网有限公司 A kind of helm gear of Chinese language text remote control
CN106292350A (en) * 2015-05-28 2017-01-04 上海能感物联网有限公司 A kind of helm gear of Chinese language text field control
CN106292688A (en) * 2015-05-28 2017-01-04 上海能感物联网有限公司 The method of unspecified person foreign language voice remote control steering wheel
CN106292400A (en) * 2015-05-28 2017-01-04 上海能感物联网有限公司 A kind of helm gear of foreign language nature this field control of Chinese language
CN106292339A (en) * 2015-05-28 2017-01-04 上海能感物联网有限公司 The method of foreign language nature this remote-controlled steering engine of Chinese language
CN106292693A (en) * 2015-05-28 2017-01-04 上海能感物联网有限公司 The method of foreign language nature Chinese language this field control steering wheel
CN106292691A (en) * 2015-05-28 2017-01-04 上海能感物联网有限公司 A kind of helm gear of Chinese speech remote control
CN106292399A (en) * 2015-05-28 2017-01-04 上海能感物联网有限公司 The method of unspecified person foreign language voice field control steering wheel
CN106292689A (en) * 2015-05-28 2017-01-04 上海能感物联网有限公司 A kind of helm gear of foreign language nature this remote control of Chinese language
CN106292349A (en) * 2015-05-28 2017-01-04 上海能感物联网有限公司 The method of Chinese language text remote-controlled steering engine
CN104960659A (en) * 2015-07-20 2015-10-07 哈尔滨工业大学 Steering engine directly driven by piezoelectric motors
CN105094019A (en) * 2015-08-31 2015-11-25 广州供电局有限公司 High-voltage power electronic control device and control method thereof
CN106227290A (en) * 2016-07-25 2016-12-14 深圳市乐信兴业科技有限公司 A kind of aircraft energy-saving control method and system
CN106374812A (en) * 2016-11-09 2017-02-01 中车大连电力牵引研发中心有限公司 Electric motor protection device
CN108227537A (en) * 2016-12-14 2018-06-29 中国航空工业集团公司西安航空计算技术研究所 A kind of aircraft stepper motor servo-control system and method based on RVDT position feedbacks
CN107748519A (en) * 2017-11-02 2018-03-02 中国航天科技集团公司烽火机械厂 A kind of driving control system and its controller used and control method
CN108267981A (en) * 2017-12-14 2018-07-10 中国电子科技集团公司第三十二研究所 Dual-channel electric servo control system based on antifuse type FPGA
CN108181853A (en) * 2018-01-16 2018-06-19 合肥华宇智航动力能源有限公司 A kind of yacht steering-engine control system and control method
CN108469726A (en) * 2018-03-19 2018-08-31 南开大学 A kind of variable parameter PID motion controller implementation method based on EthernetPowerlink
CN108762128A (en) * 2018-04-13 2018-11-06 大族激光科技产业集团股份有限公司 Electrical control integrated system and device
CN108762128B (en) * 2018-04-13 2021-09-07 大族激光科技产业集团股份有限公司 Electrical control integrated system and device
CN109683532A (en) * 2019-01-08 2019-04-26 上海应用技术大学 A kind of steering engine and more steering engine controllers and unmanned aerial vehicle control system
CN111399416A (en) * 2020-03-26 2020-07-10 西安微电子技术研究所 Double-shaft steering engine controller based on MCU processor
CN111874213A (en) * 2020-06-28 2020-11-03 重庆乐吧便捷科技有限公司 Steering engine driving module
CN111897750A (en) * 2020-08-07 2020-11-06 航天科工微电子系统研究院有限公司 SoC chip structure applied to steering engine control system

Similar Documents

Publication Publication Date Title
CN201371945Y (en) Electric steering engine controller based on FPGA
CN100573378C (en) A kind of portable vibration data collector and method based on embedded technology
CN105242640B (en) A kind of novel high-speed, high precision multiple-axis servo motion controller circuit
CN201540330U (en) Digital multifunctional network electrical measuring instrument
CN101291059A (en) Electricity quality analyzer oriented to digitalized electrical system and electricity quality analysis method
CN105680735A (en) ARM processor-based four-axis servo motor motion control card and method
CN203520080U (en) Real-time controller of universal frequency converter
CN102243482B (en) Control method and master controller for cascaded high-voltage frequency converters
CN204178172U (en) A kind of universal embedded bus control equipment based on DSP and FPGA
CN202058010U (en) Portable monitoring control means
CN209103281U (en) Integrated multi-bus interface module based on pci interface
CN2805217Y (en) Synchronous motor microprocessor field regulator based-on CPLD and 80 C196 monolithic processor
CN201142137Y (en) Portable single-channel vibration data collector based on embedded technology
CN1655080A (en) Arm rack motion controller of concrete pump truck
CN103678078B (en) A kind of debug system and method
CN201084258Y (en) A power supply quality analyzer with good compatibility
CN205081473U (en) Double -core dc -to -ac converter module communication system's control circuit board based on DSP+FPGA
CN202076935U (en) Cascade type main controller of high-voltage frequency converter
CN104765338A (en) General parallel piston engine signal simulator
CN110597237B (en) Simulation method of RCP (remote control protocol) system of whole vehicle controller of extended range electric vehicle
Shu et al. Expansion application of dSPACE for HILS
CN102955437A (en) Bus expansion module of engineering machinery vehicle and bus data processing method
CN203896234U (en) Multi-motor synchronization controlling apparatus based on embedded system
CN202334375U (en) Off-grid intelligent photovoltaic controller
CN201724819U (en) Electronic controlled engine matching calibration system

Legal Events

Date Code Title Description
C14 Grant of patent or utility model
GR01 Patent grant
CX01 Expiry of patent term

Granted publication date: 20091230

CX01 Expiry of patent term