CN202696532U - Controller for electric vehicle motor drive system based on digital signal processor (DPS) and field programmable gate array (FPGA) - Google Patents
Controller for electric vehicle motor drive system based on digital signal processor (DPS) and field programmable gate array (FPGA) Download PDFInfo
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- CN202696532U CN202696532U CN2012203124017U CN201220312401U CN202696532U CN 202696532 U CN202696532 U CN 202696532U CN 2012203124017 U CN2012203124017 U CN 2012203124017U CN 201220312401 U CN201220312401 U CN 201220312401U CN 202696532 U CN202696532 U CN 202696532U
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Abstract
The utility model relates to a controller for an electric vehicle motor drive system based on a DPS and an FPGA. The controller is connected to a motor system through a power module. The controller comprises a DSP chip and an FPGA chip which are connected through external parallel bus, wherein the DSP chip is connected to the motor system and connected with a controller area network (CAN) communication module simultaneously. The motor system is connected with the FPGA chip through a bus voltage acquisition module, a three-phase current acquisition module, an optical-electricity encoder module, a protective circuit module and an analog control signal module respectively; and the FPGA chip is further connected to the DSP chip. By the combination of the DSP and the FPGA, both high computing capabilities of the DSP and data acquisition and processing capabilities of the FPGA are given full play. The controller for the electric vehicle motor drive system based on the DPS and the FPGA has the advantages of being rapid in data acquisition speed, high in accuracy, safe and reliable, rapid in communication speed and simple and convenient to control regarding the control of an electric vehicle.
Description
Technical field
The utility model relates to electric vehicle motor drive system technology, particularly a kind of electric vehicle motor driving system controller based on DSP and the two MCU of FPGA.
Background technology
Enter 21 century, countries in the world are faced with exhausted and serious two huge challenges of environmental pollution of petroleum resources, and in China, these two problems are particularly outstanding.Electric motor car is owing to can realize zero discharge, so can effectively avoid air pollution, it directly utilizes electric energy to drive simultaneously, has broken away from the dependence to oil.Along with the development of science and technology, the research of vehicle technology is becoming the emphasis of countries in the world modern vehicle research and development.
Along with developing rapidly of power electronic technology and Computer Control Technology, various novel, high performance devices in the driving control system for electric machine of electric motor car, have been begun to adopt.Such as digital signal processor (DSP), field programmable gate array (FPGA), intelligent power control module etc., digital control to realize.Electric machine control system in the past is based on DSP mostly, DSP+GAL, DSP+CPLD framework.For example notification number is CN102377380A, open day is 20120314 Chinese patent literature, a kind of alternating-current permanent magnet synchronous motor control system for electric vehicle is disclosed, comprise AC permanent magnet synchronous motor, power inverter, controller and detector, described controller is a DSP microprocessor, described detector comprises position detector and current detector, described position detector and current detector are inputted respectively the DSP microprocessor with rotor-position/rate signal and the current signal of its AC permanent magnet synchronous motor that detects separately, described DSP microprocessor calculates the set-point of electric current according to the rotor-position/rate signal of input, compare with the current detection value of input again and draw corresponding control signal, and drive AC permanent magnet synchronous motor through power inverter; Described power inverter adopts the two inversion bridge architectures of the three-phase that is made of MOSFET inverter and IGBT inverter.
But this scheme is also the same with above-mentioned framework, and is more weak in the function aspects of realization sequential logic equally, realizes complicated control algolithm and guarantees that real-time is also relatively more difficult.
Summary of the invention
The purpose of this utility model provides a kind of electric vehicle motor driving system controller based on DSP and FPGA, effective combination by DSP and the two MCU of FPGA, compare with traditional framework, the sequential logic aspect that is combined in by DSP and FPGA has clearly advantage, has realized that signals collecting speed is fast, precision is high, programming is convenient, and control is reliable, safety and stability, communication speed is fast, the purposes such as simple operation.
In order to achieve the above object, the technical solution of the utility model is as follows:
Electric vehicle motor driving system controller based on DSP and FPGA; be connected to electric system by power module; it is characterized in that: comprise the dsp chip and the fpga chip that connect by outside parallel bus; wherein; dsp chip is connected to electric system; simultaneously; dsp chip is connected with the CAN communication module; electric system is connected with fpga chip by busbar voltage acquisition module, three-phase current acquisition module, photoelectric encoder module, protective circuit module, analog control signal module respectively, and fpga chip is connected to dsp chip again.
Described three-phase current acquisition module is current sensor.
Also be provided with modulus conversion chip (A/D chip) between described busbar voltage acquisition module, three-phase current acquisition module, analog control signal module and the fpga chip.
In motor drive controller, dsp chip and fpga chip are shared out the work and help one another: fpga chip is mainly born the work that gathers the every signal of motor, comprises analog control signal, three-phase current signal, bus voltage signal, photoelectric encoder signal, protective circuit signal; Dsp chip is mainly born the work of calculating and exporting the PWM ripple, and by regularly reading the motor feedback signals that FPGA gathers, DSP just can determine the state that electric system is present, by certain algorithm, it is further controlled.
Because three-phase current sensor signal, bus voltage signal and pedal signal in the collection signal are analog signal, in order to improve control efficiency and sample frequency, the technical program adopts FPGA control A/D analog-digital chip to come analog signal is nursed one's health and changed.Analog signal is stored in the FPGA internal RAM by being converted to digital signal input FPGA after the A/D chip.So not only improve the speed that gathers feedback signal, also improved the precision of feedback signal.
The control mode of described electric vehicle motor control mainly adopts voltage space Sine Wave Pulse Width Modulation (SVPWM), and dsp chip is with the task manager module, can allow the designer generate various forms of SVPWM by the method for software programming easily, be easy to the Digital Realization of SVPWM.By configuration comparand register CMPR1 in algorithm, CMPR2 and CMPR3, task manager can produce the PWM ripple signal with dead band able to programme of 3 phases, 6 tunnel complementations.Directly export the PWM ripple by dsp chip, greatly improved the antijamming capability of system.
Aspect the reliability that improves electric vehicle motor controller; the controller protection module can be the abnormality of motor; comprise that short circuit, overcurrent, phase shortage, overload, main circuit overvoltage and control circuit are under-voltage; delivering to the troubleshooting machine of FPGA processes; DSP latchs the PWM passage of DSP rapidly then by modes such as external interrupt.Simultaneously, FPGA can also monitor by temperature sensor the temperature of motor and power model, and is regularly read by DSP as feedback signal, and latchs fast PWM passage and warning in excess Temperature.So just avoid causing because device temperature is too high the damage of power model and motor, improved the security and stability of electric system.
In communication aspects, the CAN bus functionality of the 1M traffic rate that DSP carries provides the communication interface of controller with the external world, and it can greatly improve speed and the precision of transfer of data.The CAN bus has two functions, the one, by DSP with the data filtering that collects after, packing sends to other receiving equipments; The 2nd, DSP passes through the CAN bus and receives the packet that the external world sends, and motor is realized simple control, and simultaneously, the renewal of the program of electric vehicle motor controller and download also can be finished by the CAN bus communication quickly and easily.In addition, also integrated communication interface generally on the controller, such as RS232, RS485 etc., these can be controlled and communicate by letter by the particular module of DSP.
Improving aspect the system features in convenient the also integrated analog control signal module that links to each other with FPGA on the electric vehicle motor driving governor.Analog control signal comprises pedal signal, brake signal, forward/backward signal, key signal.FPGA can gather analog quantity and the digital quantity of this module in real time, comes decision operation person's intention with this, then changes the state of a control of DSP according to the analog control signal that collects, thereby changes the state of electric vehicle motor system.
Realization principle of the present utility model is as follows:
At first, FPGA gathers the control signal of analog control signal module automatically, and the status signal that DSP gathers according to FPGA is determined the running status of motor.If the key signal that collects is released state, then motor normally moves, otherwise then latchs the PWM passage of DSP.Be under the state of release at the key signal, if detect progress signal, motor forward then; If backing signal, then motor reversal; If detect brake signal, then motor reduces to 0 with speed at once.Secondly, DSP can according to the pedal signal of analog control signal output, determine the rotating speed of motor.DSP can also receive the running status that motor is controlled in the extraneous control information that gives by the CAN bus, and rotating speed etc. come motor is controlled accordingly.
Owing to adopted above-mentioned technical scheme, the beneficial effects of the utility model are as follows:
The combination of DSP and two MCU of FPGA, can have complementary advantages, learn from other's strong points to offset one's weaknesses, both given full play to the stronger computing capability of DSP, given full play to again the characteristics of the data acquisition and processing (DAP) ability of FPGA, and aspect sequential logic, has advantage clearly, it is fast to make the control of electric motor car have image data speed, and accuracy is high, and is safe and reliable, communication speed is fast, controls easy characteristics.
Description of drawings
Fig. 1 is structured flowchart of the present utility model
Fig. 2 is data flow diagram of the present utility model
Wherein, Reference numeral is: 1, dsp chip; 2, fpga chip, 3, electric system, 4, the CAN communication module; 5, busbar voltage acquisition module; 6, three-phase current acquisition module, 7, the photoelectric encoder module, 8, protective circuit module .9, analog control signal module; 10, A/D chip, 11, power module.
Embodiment
Specify the utility model below in conjunction with embodiment.
Shown in Fig. 1-2; electric vehicle motor driving system controller based on DSP and FPGA; be connected to electric system by power module; comprise the dsp chip and the fpga chip that connect by outside parallel bus; wherein; dsp chip is connected to electric system; simultaneously; dsp chip is connected with the CAN communication module; electric system is connected with fpga chip by busbar voltage acquisition module, three-phase current acquisition module, photoelectric encoder module, protective circuit module, analog control signal module respectively, and fpga chip is connected to dsp chip again.
DSP is the 32-bit number signal processing chip, the high-performance 32-bit dsp chip TMS320F2812 that dsp chip adopts TI company to release, high primary frequency can reach 150MIPS, and this DSP is the processor of the peak performance of present control field, has precision height, fast, the integrated level high of speed.Its kernel is supported IQ transforming function transformation function storehouse, makes the research staff realize floating-point operation with fixed DSP easily.Because device is integrated interrupt management unit fast so that interrupt delay time significantly reduces, has satisfied the needs of real-time control.The major function of DSP is regularly to read to gather the motor feedback signals of returning from FPGA, according to these feedback signals, calculate the duty cycle information of the required output of control motor PWM ripple, to power model output PWM ripple, and in real time information exchange is crossed CAN communication and send to the external world, receive simultaneously extraneous control information.CAN communication module aspect adopts the CAN communication module that carries in the DSP sheet, is mainly used in realizing the communication between the external world and the DSP.
FGPA is ultra-large programmable gate array, fpga chip adopts the FPGA chip EP2C35F484C8 of Altera company, and this chip belongs to Cyclone II system, has 33216 logical blocks, RAM (kbit) is 484, adopts VHDL language to describe.The major function of FPGA is control and gathers current sensor module; the busbar voltage acquisition module; the resulting motor feedback signals of photoelectric encoder module; it is stored in the ram in slice according to the FIFO principle; to the feedback signal of DSP as control, and change at any time the state of a control of motor by simulation control module and protective circuit by bus transfer.In order to guarantee DSP and the FPGA consistency on work schedule, the clock signal of FPGA is provided by the CLKOUT pin of DSP.
Described three-phase current acquisition module is current sensor.
Also be provided with modulus conversion chip (A/D chip) between described busbar voltage acquisition module, three-phase current acquisition module, analog control signal module and the fpga chip.
The A/D chip adopts ADS8364, this chip is the high-performance modulus conversion chip of high-speed 16 high speed parallel interfaces of a low energy consumption, have powerful antijamming capability, clock signal highest frequency 5 MHz, sample frequency is 250 kHz, and sampling/conversion can be finished within 20 clock cycle.Its major function is that the analog signal that gathers is nursed one's health fast, is converted among the digital signal input FPGA, improves system acquisition data speed and precision.Because the clock signal of ADS8364 need to be provided by the outside, uses FPGA to provide clock signal to it, so just can change flexibly the chip clock frequency by FPGA, and then change sample frequency here.
The electric vehicle motor system adopts the control mode of vector control.Motor is in running, and current sensor can detect the value of three-phase current in real time, feeds back to driving system controller.DSP reads from FPGA after these current values, can be by coordinate transform, and from the three phase static coordinate system transformation to the two-phase rotating coordinate system, decoupling zero rotor flux and electromagnetic torque are beneficial to the calculating of vector control with electric current.After the algorithm calculating of DSP according to vector control, output PWM ripple comes motor is controlled.
Realization principle of the present utility model is as follows:
At first, FPGA gathers the control signal of analog control signal module automatically, and the status signal that DSP gathers according to FPGA is determined the running status of motor.If the key signal is released state, then motor normally moves, otherwise then latchs the PWM passage of DSP.Be under the state of release at the key signal, if detect progress signal, motor forward then; If backing signal, then motor reversal; If detect brake signal, then motor reduces to 0 with speed at once.Secondly, DSP can according to the pedal signal of analog control signal output, determine the rotating speed of motor.DSP can also receive the running status that motor is controlled in the extraneous control information that gives by the CAN bus, and rotating speed etc. come motor is controlled accordingly.
The operational process of electric vehicle motor system is:
During the electric system operation; three-phase current sensor signal and the bus voltage signal of FPGA synchronous acquisition photoelectric encoder pulse signal, protective circuit pulse signal, motor drive terminal; the signal that obtains is undertaken by the A/D chip by FPGA control after the signal condition, via the internal register of bus transfer to FPGA.DSP links to each other with FPGA by outside parallel bus, the internal register addresses of FPGA is mapped in the inner IO space, and regularly obtains sensor signal and control signal by bus from memory.By these data, DSP can control position ring and speed ring by the algorithm of vector control according to the field orientation control principle, calculate the duty ratio of three-phase PWM ripple after, to the Intelligent Power Module output PWM ripple of electric system, reach the purpose of control motor.
Along with dsp chip price in recent years constantly descends, the particularly appearance of Electric Machine Control special DSP chip is for the total digitalization of AC servo provides hardware supports.The FPGA integrated level is very large, usually contain several ten thousand in the sheet, a hundreds of thousands equivalent gate, can realize easily repeatedly revising, so monolithic FPGA just can substitute the circuit that polylith integrated circuit and discrete component form, realize complicated logic function, and can substitute microprocessor and finish partial function, alleviate the burden of core processor.
Therefore realize total digitalization in the electric vehicle motor drive system by the FPGA+DSP structure, the volume of its control system is dwindled greatly, reliability obviously improves, but also is convenient to the realization of some Advanced Control Strategies, and is significant to pushing motor drive system intelligent development.
On the control strategy of motor, vector control and direct torque control that the general control algorithm adopts all need a large amount of mathematical operations.Will waste a large amount of logical resources if use FPGA to carry out online real-time operation.If but by DSP realize as gather photoelectric coded disk etc. at a high speed, periodically strong signal, the functions such as detection of protection module signal will certainly take a large amount of DSP time.DSP has certain advantage on the speed of calculating and precision; FPGA information gathering ability and dispatching are very powerful.Therefore with both combinations, have complementary advantages, fpga chip is responsible for the collection of control feedback signal and control signal in control, dsp chip is responsible for feedback signal and the control signal by collecting, according to certain control algolithm, calculate the needed controlled quentity controlled variable of control motor, so just can guarantee rapidity, accuracy and the reliability controlled.The controller that this couple of MCU combines closely can obtain maximum control efficiency.
Claims (3)
1. based on the electric vehicle motor driving system controller of DSP and FPGA; be connected to electric system by power module; it is characterized in that: comprise the dsp chip and the fpga chip that connect by outside parallel bus; wherein; dsp chip is connected to electric system; simultaneously; dsp chip is connected with the CAN communication module; electric system is connected with fpga chip by busbar voltage acquisition module, three-phase current acquisition module, photoelectric encoder module, protective circuit module, analog control signal module respectively, and fpga chip is connected to dsp chip again.
2. the electric vehicle motor driving system controller based on DSP and FPGA according to claim 1, it is characterized in that: described three-phase current acquisition module is current sensor.
3. the electric vehicle motor driving system controller based on DSP and FPGA according to claim 1 is characterized in that: also be provided with modulus conversion chip between described busbar voltage acquisition module, three-phase current acquisition module, analog control signal module and the fpga chip.
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103616572A (en) * | 2013-12-09 | 2014-03-05 | 安徽江淮汽车股份有限公司 | Phase failure diagnosis method of PMSM (permanent magnet synchronous motor) drive system of electric vehicle |
| CN103640693A (en) * | 2013-12-02 | 2014-03-19 | 西安航空制动科技有限公司 | DSP+FPGA (digital signal processor and field programmable gate array)-based anti-skid brake control box of aircraft brake system |
| CN105083513A (en) * | 2015-08-24 | 2015-11-25 | 上海瑞华(集团)有限公司 | Onboard water-cooled power driver control device |
| CN105656335A (en) * | 2014-11-11 | 2016-06-08 | 中车大连电力牵引研发中心有限公司 | Three-level inverter control circuit |
| CN105958891A (en) * | 2016-01-18 | 2016-09-21 | 湖南品信生物工程有限公司 | Switch magnetic resistance motor motion control method based on DSP+CPLD |
| CN106407155A (en) * | 2016-08-31 | 2017-02-15 | 上海交通大学 | Dual-core controller for switched reluctance motor control based on DSP and FPGA, and method |
| CN109981010A (en) * | 2017-12-28 | 2019-07-05 | 沈阳新松机器人自动化股份有限公司 | A kind of motor driven systems and method |
| CN110307103A (en) * | 2019-05-23 | 2019-10-08 | 西安航天精密机电研究所 | A kind of control system of throat area of aeroengine tail nozzle |
| CN112740528A (en) * | 2018-06-15 | 2021-04-30 | 利勃海尔比伯拉赫零部件有限公司 | Plug and play energy storage device for integration with an electrical drive system |
| CN113131919A (en) * | 2019-12-31 | 2021-07-16 | 北京兆易创新科技股份有限公司 | Driving chip, driving method and control system |
| CN113759808A (en) * | 2021-09-29 | 2021-12-07 | 湖北三江航天万峰科技发展有限公司 | Fan monitoring system, method and device and computer storage medium |
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2012
- 2012-07-01 CN CN2012203124017U patent/CN202696532U/en not_active Expired - Lifetime
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| CN103640693B (en) * | 2013-12-02 | 2016-01-20 | 西安航空制动科技有限公司 | Based on the airplane brake system antiskid braking control box of DSP+FPGA |
| CN103640693A (en) * | 2013-12-02 | 2014-03-19 | 西安航空制动科技有限公司 | DSP+FPGA (digital signal processor and field programmable gate array)-based anti-skid brake control box of aircraft brake system |
| CN103616572A (en) * | 2013-12-09 | 2014-03-05 | 安徽江淮汽车股份有限公司 | Phase failure diagnosis method of PMSM (permanent magnet synchronous motor) drive system of electric vehicle |
| CN103616572B (en) * | 2013-12-09 | 2015-12-30 | 安徽江淮汽车股份有限公司 | A kind of diagnostic method of electric automobile PMSM drive system open-phase fault |
| CN105656335B (en) * | 2014-11-11 | 2018-05-15 | 中车大连电力牵引研发中心有限公司 | three-level inverter control circuit |
| CN105656335A (en) * | 2014-11-11 | 2016-06-08 | 中车大连电力牵引研发中心有限公司 | Three-level inverter control circuit |
| CN105083513B (en) * | 2015-08-24 | 2018-01-23 | 上海瑞华(集团)有限公司 | A kind of boat-carrying water-cooled power drill/driver control device |
| CN105083513A (en) * | 2015-08-24 | 2015-11-25 | 上海瑞华(集团)有限公司 | Onboard water-cooled power driver control device |
| CN105958891A (en) * | 2016-01-18 | 2016-09-21 | 湖南品信生物工程有限公司 | Switch magnetic resistance motor motion control method based on DSP+CPLD |
| CN106407155A (en) * | 2016-08-31 | 2017-02-15 | 上海交通大学 | Dual-core controller for switched reluctance motor control based on DSP and FPGA, and method |
| CN109981010A (en) * | 2017-12-28 | 2019-07-05 | 沈阳新松机器人自动化股份有限公司 | A kind of motor driven systems and method |
| CN112740528A (en) * | 2018-06-15 | 2021-04-30 | 利勃海尔比伯拉赫零部件有限公司 | Plug and play energy storage device for integration with an electrical drive system |
| CN110307103A (en) * | 2019-05-23 | 2019-10-08 | 西安航天精密机电研究所 | A kind of control system of throat area of aeroengine tail nozzle |
| CN113131919A (en) * | 2019-12-31 | 2021-07-16 | 北京兆易创新科技股份有限公司 | Driving chip, driving method and control system |
| CN113759808A (en) * | 2021-09-29 | 2021-12-07 | 湖北三江航天万峰科技发展有限公司 | Fan monitoring system, method and device and computer storage medium |
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Effective date of registration: 20180428 Address after: 610000 18 West core road, hi-tech West District, Chengdu, Sichuan Patentee after: DONGFANG ELECTRIC Co.,Ltd. Address before: 610036 Shu Han Road, Jinniu District, Chengdu, Sichuan Province, No. 333 Patentee before: DONGFANG ELECTRIC Corp. |
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