CN202957785U

CN202957785U - Digital controller for steering engine

Info

Publication number: CN202957785U
Application number: CN201220595277XU
Authority: CN
Inventors: 张兆凯; 刘雷; 郝卫生; 谢劲松
Original assignee: Beijing Automation Control Equipment Institute BACEI
Current assignee: Beijing Automation Control Equipment Institute BACEI
Priority date: 2012-11-13
Filing date: 2012-11-13
Publication date: 2013-05-29
Anticipated expiration: 2022-11-13

Abstract

The utility model provides a digital controller for a steering engine, which is suitable for controlling a multichannel PMSM (Permanent Magnet Synchronous Motor) type steering engine and high in integrated level. The digital controller comprises a FPGA (Field Programmable Gate Array) module, a DSP (Digital Signal Processor) module, rotary transformers, a rotary-transformer excitation and signal demodulation module, LVDT's (Linear Variable Differential Transformers)/ RVDT's (Rotary Variable Differential Transducers), an LVDT/RVDT excitation and signal demodulation module, current sensors, a current sampling module and a digital communication interface module. The digital controller for the steering engine fully utilizes advantages of high integrated level and parallel processing of large-scale FPGA, to realize sequence scheduling and data processing of multichannel multi-type sensor signal acquisition, real-time control of a PMSM, and data communication; and utilizes a DSP to realize close-loop control of steering engine position, thereby simplifying sequence scheduling of multiple tasks, effectively optimizing tri-close-loop control strategies of the steering machine, improving control performance, and improving the integrated level of the circuit.

Description

A kind of steering wheel digitial controller

Technical field

The utility model relates to a kind of digitial controller, is specifically related to a kind of high integration digitial controller that multichannel permanent magnet synchronous electric type steering wheel is controlled that is applicable to.

Background technology

Electric steering engine is the actuator extensively adopted in the middle-size and small-size aircraft such as tactical missile, unmanned plane in recent years, simple and reliable with it, cost is low, be easy to the characteristics such as control is generalized to increasing application, and, along with the development of the technology such as digital control technology, novel permanent magnetic synchronous motor, the performance of electric steering engine improves constantly.

Permagnetic synchronous motor has the advantages such as high-power volume ratio, low torque fluctuation, but it drives to control and relates to digital communication, polytype, multichannel sensor data acquisition and processing (DAP), the Current Control computing, the motor coordinate system transformation calculates, and PWM (pulse-width modulation) modulation waits the series of complex computing, relate to circuit types many, system is mixed, the sequential scheduling complexity, and requirement of real-time is high.The mode that generally adopt at present DSP (digital signal processor) to control permagnetic synchronous motor, simultaneously to realize the steering wheel Position Control exists that software multitask sequential scheduling is complicated, break in service is many, easily cause the problem such as interrupt nesting, the Software for Design difficulty is large, controls effect and is difficult to guarantee.

The utility model content

The utility model proposes and a kind ofly take large-scale F PGA (field programmable gate array) as the control circuit core, the integrated steering wheel digitial controller of the functions such as Interface for digital communication, multiple sensors data acquisition and processing, the control of multichannel permagnetic synchronous motor.

The utility model is achieved in that

A kind of steering wheel digitial controller comprises: FPGA module, DSP module, resolver, resolver excitation and signal demodulation module, LVDT/RVDT (straight line differential transformer/rotation differential transformer), LVDT/RVDT excitation and signal demodulation module, current sensor, current sample module and Interface for digital communication module.

Described Interface for digital communication module is connected with the FPGA module, the control command sent for receiving host computer.

Described resolver encourages with the signal demodulation module and is connected with the FPGA module by resolver, for the rotor corner information of measuring, the information measured is sent into the FPGA module after the resolver excitation converts digital signal to the demodulation of signal demodulation module.

Described LVDT/RVDT encourages with the signal demodulation module and is connected with the FPGA module by LVDT/RVDT, for measuring steering wheel straight-line displacement or corner information, the information measured is sent into the FPGA module after the LVDT/RVDT excitation converts digital signal to the demodulation of signal demodulation module.

Described current sensor is connected with the FPGA module by the current sample module, and for measuring electric machine phase current, the analog voltage amount measured is sent into the FPGA module after the current sample module converts is digital quantity.

Described DSP module is connected with the FPGA module, for realizing the computing of Position Control rule, the control command data that the FPGA module receives Interface for digital communication and LVDT/RVDT excitation send to the DSP module with the position data of signal demodulation module, the DSP module generates the controlled quentity controlled variable data, and sends back to the FPGA module.

Described FPGA module is according to the controlled quentity controlled variable data that receive and the resolver feedback data of collection, the control law computing that the current feedback data are carried out permagnetic synchronous motor, generate the output of SVPWM (Realization of pulse width modulation based on voltage space vector) waveform, rotate through power amplification rear drive permagnetic synchronous motor.

Described FPGA module comprises DSP data bus interface module, motor position sensor intelligence sample module, current sensor information sampling module, electric current abc → dq modular converter, current controller module, dq → α β coordinate transferring, SVPWM generation module, RS-422 communication interface modules, 1553B communication interface modules, Clock management module, the control module that resets, steering wheel position sensor information sampling module.

The transfer of data of described DSP data bus interface module realization and DSP, the host computer information received for the information by steering wheel position sensor information sampling module, RS-422 communication interface modules and 1553B communication interface modules is sent to the DSP module; The controlled quentity controlled variable data that simultaneously the DSP module generated send to the current controller module.

Described steering wheel position sensor information sampling module, for the treatment of LVDT/RVDT excitation and the data that the signal demodulation module sends, sends to DSP data bus interface module to be sent to the DSP module after processing.

Described motor position sensor intelligence sample module, for the treatment of resolver excitation and the data that the signal demodulation module sends, sends to electric current abc → dq modular converter after processing, for coordinate system transformation, calculate.

The data that described current sensor information sampling module sends for the treatment of the current sample module, send to electric current abc → dq modular converter after processing, carry out coordinate system transformation calculating.

Described electric current abc → dq modular converter realizes that motor feedback current is by static three-phase abc coordinate and dq transformation of coordinates calculating, the motor stator current value is transformed to equivalence with two winding electric flow valuves of rotor synchronous rotary, and the data after conversion are sent to the current controller module.

Described current controller module realizes permagnetic synchronous motor control law computing under the dq coordinate system, the controlled quentity controlled variable of output dq coordinate system.

Described dq → α β coordinate transferring realizes that the dq coordinate is tied to α β coordinate system transformation and calculates, and applying of calculating in the dq coordinate system and the controlled quentity controlled variable of two windings of rotor synchronous rotary are converted to two controlled quentity controlled variables required for the motor Space vector modulation.

Described SVPWM generation module generates permagnetic synchronous motor and controls required SVPWM ripple.

Described DSP module comprises dsp chip TMS320C6713; Described resolver excitation comprises integrated circuit (IC) chip AD2S1210 with the signal demodulation module; Described current sample module comprises AD chip AD7655; Described LVDT/RVDT excitation comprises integrated circuit (IC) chip AD698 with demodulation module; Described Interface for digital communication module comprises integrated circuit (IC) chip HT61843GB, MAX490.

The utility model be take large-scale F PGA as the control circuit core, realize the functions such as vector control of Interface for digital communication, multiple sensors data acquisition and processing, multichannel permagnetic synchronous motor, realize the control of steering wheel position closed loop with high performance float-point DSP, take full advantage of FPGA parallel processing characteristics, simplified the sequential scheduling of the multitasks such as sensor data acquisition and processing, control algorithm, digital communication, can effectively optimize steering wheel three Closed-loop Control Strategies, improve control performance, improve the integrated level of circuit.

The accompanying drawing explanation

Fig. 1 the utility model forms structure chart;

Fig. 2 the utility model FPGA inner function module composition frame chart.

Embodiment

The present embodiment is controlled the electric steering engine of four permanent magnet synchronous motors types simultaneously, as shown in Figure 1, comprising: FPGA module 1, DSP module 2, resolver excitation and signal demodulation module 3, LVDT/RVDT excitation and signal demodulation module 4, current sample module 5, Interface for digital communication module 6, four resolvers 7, four LVTD/RVDT8 and eight current sensors 9.

Wherein, as shown in Figure 2, FPGA module 1 specifically comprises DSP data bus interface module 10, motor position sensor intelligence sample module 11, current sensor information sampling module 12, electric current abc → dq modular converter 13, current controller module 14, dq → α β coordinate transferring 15, SVPWM generation module 16, RS-422 communication interface modules 17,1553B communication interface modules 18, Clock management module 19, the control module that resets 20, steering wheel position sensor information sampling module 21.

In addition, in the present embodiment, DSP module 2 comprises dsp chip TMS320C6713; The resolver excitation comprises integrated circuit (IC) chip AD2S1210 with signal demodulation module 3; Current sample module 5 comprises AD chip AD7655; Described LVDT/RVDT excitation comprises integrated circuit (IC) chip AD698 with demodulation module; Described Interface for digital communication module comprises integrated circuit (IC) chip HT61843GB, MAX490.

During work, LVDT/RVDT8 carries out data acquisition to steering wheel straight-line displacement or the corner information of steering wheel, data after collection carry out sending into FPGA module 1 after signal solution mediation analog to digital conversion via LVDT/RVDT excitation and signal demodulation module 4, steering wheel position sensor information sampling module 21 in FPGA module 1 is processed LVDT/RVDT excitation and the data that signal demodulation module 4 is sent into, and processes the steering wheel position feedback amount data that obtain and sends into DSP module 2 via DSP data bus interface module 10; Simultaneously, the control command that Interface for digital communication module 6 is sent host computer is sent into FPGA module 1, RS-422 communication interface modules 17 or the 1553B communication interface modules 18 of the control command of host computer in FPGA module 1 receives, and sends to DSP module 2 via DSP data bus interface module 10.

DSP module 2 realizes the computing of steering wheel Position Control rule according to control command and the steering wheel positional information of host computer, and the controlled quentity controlled variable data that DSP module 2 obtains computing send back to FPGA module 1; DSP data bus interface module 10 sends to the current controller module after receiving the controlled quentity controlled variable data.Meanwhile, resolver 7 detects motor rotor position in real time as motor rotor position sensor, send with signal demodulation module 3 the motor rotor position information detected to FPGA module 1 through the resolver excitation, motor position sensor intelligence sample module 11 in FPGA module 1 is carried out the filtering processing by the motor rotor position information of reception, then the information after processing is sent to electric current abc → dq modular converter, current sensor 9 detects electric machine phase current in real time, each motor is equipped with two current sensors 9, be used for detecting the two-phase in the motor three-phase current, send through current sample module 5 the current of electric information detected to FPGA module 1, current sensor information sampling module 12 in FPGA module 1 carries out the filtering processing by the current of electric information of reception, again the information after processing is sent to electric current abc → dq modular converter, electric current abc → dq modular converter 13 carries out Coordinate Conversion according to the motor rotor position data and the phase current data that receive, realize that motor feedback current is by static three-phase abc coordinate and dq transformation of coordinates calculating, data after conversion send to current controller module 14, current controller module 14 realizes permagnetic synchronous motor control law computing under the dq coordinate system, the controlled quentity controlled variable of output dq coordinate system, controlled quentity controlled variable under the dq coordinate system realizes that by dq → α β coordinate transferring 15 the dq coordinate is tied to α β coordinate system transformation and calculates, SVPWM generation module 16 carries out computing under α β coordinate system, and generate permagnetic synchronous motor and control required SVPWM ripple, SVPWM can be used for driving permagnetic synchronous motor to rotate through power amplification.

Claims

1. a steering wheel digitial controller, is characterized in that comprising: FPGA module, DSP module, resolver, resolver excitation and signal demodulation module, LVDT/RVDT, LVDT/RVDT excitation and signal demodulation module, current sensor, current sample module and Interface for digital communication module;

Described Interface for digital communication module is connected with the FPGA module, the control command sent for receiving host computer;

The rotor corner information of described resolver for measuring, the information measured is sent into the FPGA module after the resolver excitation converts digital signal to the demodulation of signal demodulation module;

Described LVDT/RVDT is for measuring steering wheel straight-line displacement or corner information, and the information measured is sent into the FPGA module after the LVDT/RVDT excitation converts digital signal to the demodulation of signal demodulation module;

Described current sensor is for measuring electric machine phase current, and the analog voltage amount measured is sent into the FPGA module after the current sample module converts is digital quantity;

Described DSP module is connected with the FPGA module, for realizing the computing of Position Control rule,

The control command data that the FPGA module receives Interface for digital communication and LVDT/RVDT excitation send to the DSP module with the position data of signal demodulation module, and the DSP module generates the controlled quentity controlled variable data, and sends back to the FPGA module;

Described FPGA module, according to the controlled quentity controlled variable data that receive and the resolver feedback data of collection, the control law computing that the current feedback data are carried out permagnetic synchronous motor, generates the output of SVPWM waveform, through power amplification rear drive permagnetic synchronous motor, rotates.

2. steering wheel digitial controller according to claim 1, is characterized in that described FPGA module comprises DSP data bus interface module, motor position sensor intelligence sample module, current sensor information sampling module, electric current abc → dq modular converter, current controller module, dq → α β coordinate transferring, SVPWM generation module, RS-422 communication interface modules, 1553B communication interface modules, Clock management module, the control module that resets, steering wheel position sensor information sampling module;

The transfer of data of described DSP data bus interface module realization and DSP, the host computer information received for the information by steering wheel position sensor information sampling module, RS-422 communication interface modules and 1553B communication interface modules is sent to the DSP module; The controlled quentity controlled variable data that simultaneously the DSP module generated send to the current controller module;

Described steering wheel position sensor information sampling module, for the treatment of LVDT/RVDT excitation and the data that the signal demodulation module sends, sends to DSP data bus interface module to be sent to the DSP module after processing;

Described motor position sensor intelligence sample module, for the treatment of resolver excitation and the data that the signal demodulation module sends, sends to electric current abc → dq modular converter after processing, for coordinate system transformation, calculate;

The data that described current sensor information sampling module sends for the treatment of the current sample module, send to electric current abc → dq modular converter after processing, carry out coordinate transform calculating;

Described electric current abc → dq modular converter realizes that motor feedback current is by static three-phase abc coordinate and dq transformation of coordinates calculating, and the data after conversion are sent to the current controller module;

Described current controller module realizes permagnetic synchronous motor control law computing under the dq coordinate system, the controlled quentity controlled variable of output dq coordinate system;

Described dq → α β coordinate transferring realizes that the dq coordinate is tied to α β coordinate system transformation and calculates;

3. steering wheel digitial controller according to claim 1, it is characterized in that: described DSP module comprises dsp chip TMS320C6713; Described resolver excitation comprises integrated circuit (IC) chip AD2S1210 with the signal demodulation module; Described current sample module comprises AD chip AD7655; Described LVDT/RVDT excitation comprises integrated circuit (IC) chip AD698 with demodulation module; Described Interface for digital communication module comprises integrated circuit (IC) chip HT61843GB, MAX490.