CN207150476U - A kind of digitial controller suitable for multichannel permanent magnet synchronous electric type servos control - Google Patents
A kind of digitial controller suitable for multichannel permanent magnet synchronous electric type servos control Download PDFInfo
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- CN207150476U CN207150476U CN201721218149.2U CN201721218149U CN207150476U CN 207150476 U CN207150476 U CN 207150476U CN 201721218149 U CN201721218149 U CN 201721218149U CN 207150476 U CN207150476 U CN 207150476U
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Abstract
The utility model discloses a kind of digitial controller suitable for multichannel permanent magnet synchronous electric type servos control, DSP Processor is connected with FPGA processor by address bus, data/address bus with controlling bus, and the input of DSP Processor is connected with interface circuit；The first input end of FPGA processor is connected with the output end of current collection circuit, second input of FPGA processor is connected with the output end of rudder feedback collection circuit, the output end that 3rd input of FPGA processor becomes circuit with rotation is connected, and the output end of FPGA processor is connected with the input of drive circuit；The output end of power supply is connected with DSP Processor and FPGA processor respectively.Processor of the present utility model is DSP+FPGA frameworks, and two processors carry out data interaction by address bus, data/address bus and controlling bus, has the characteristics that versatility is high, arithmetic speed is fast, port number easily extends.
Description
Technical field
It the utility model is related to technical field of electromechanical control, and in particular to one kind is applied to multichannel permanent magnet synchronous electric type
The digitial controller of servos control.
Background technology
In recent years, due to the development of electric aircraft and the development of servo techniques, defence equipment required precision more and more higher,
Electric steering engine turns into a popular research field.Executing agency of the electric steering engine as flight control system, to electronic servomechanism
It is required that being must possess very high angular speed, tracking accuracy, while there is higher reliability and good maintainability.Current electricity
Dynamic steering wheel develops towards the direction of high speed, high power density, high efficiency, small volume, therefore researches and develops high speed, high efficiency, height
The development of power density, the motor of small size for electric steering engine is particularly important.
As the rapid development of permanent-magnet material, integrated technology and modern control theory, permagnetic synchronous motor are excellent with its
Characteristic is developed rapidly.Compared with brushless, brushed DC motor, permagnetic synchronous motor has advantages below：(1) motor
Small volume, it is simple in construction, it is easy to safeguard；(2) power density is high, efficiency high；(3) armature winding is distributed on stator, is easy to electricity
Machine radiates；(4) permanent magnet is made up of rare earth material, and rotor is without armature, and rotary inertia is small, and motor has fast-response.Due to
With high power density, small size, high efficiency, dynamic property be good etc., superperformance, permagnetic synchronous motor are widely used in high property
In energy servo-drive system.
Conventional digital controller such as TI company's Ts MS320F28335, TMS320F2812 only have 12 road pwm control signals, when
After steering wheel uses permagnetic synchronous motor, single channel steering wheel needs 6 road pwm control signal driving three-phase bridge type converters, when system institute
When needing the steering wheel to be more than two-way, conventional one-piece dsp controller will be unable to meet needed for PWM ways.Secondly controlled using conventional digital
The signals such as device collection electric current, rudder angle feedback, rotor velocity, will greatly take system controlling cycle, and reduce system response time.
Utility model content
Weak point present in regarding to the issue above, the utility model provide one kind and are applied to multichannel permanent magnet synchronous electric
The digitial controller of type servos control, it has versatility height, the spy that arithmetic speed is fast, port number easily extends, reliability is high
Point.
The utility model discloses a kind of digitial controller suitable for multichannel permanent magnet synchronous electric type servos control, bag
Include：DSP Processor, FPGA processor, current collection circuit, rudder feedback collection circuit, rotation become circuit, drive circuit, interface electricity
Road and power supply；
The DSP Processor is connected with FPGA processor by address bus, data/address bus with controlling bus, the DSP
The input of processor is connected with the interface circuit；The first input end of the FPGA processor and the current collection circuit
Output end be connected, the second input of the FPGA processor is connected with the output end of the rudder feedback collection circuit, described
3rd input of FPGA processor with it is described rotation become circuit output end be connected, the output end of the FPGA processor with it is described
The input of drive circuit is connected；
The output end of the power supply is connected with the DSP Processor and FPGA processor respectively.
As further improvement of the utility model, the DSP Processor includes：DSP module, communication module and RAM moulds
Block；
The DSP module is connected by address bus, data/address bus and controlling bus with the FPGA processor, described
DSP module is connected by the communication module with host computer, the DSP module and the RAM moulds for being stored with PID initial parameters
Block is connected；
The DSP module includes the vector controlled computing module and generation control steering wheel control for motor vector controlled computing
The controlled quentity controlled variable generation module of amount processed.
As further improvement of the utility model, the FPGA processor includes：FPGA module and SECO sampling
Module；
The FPGA module is connected by address bus, data/address bus and controlling bus with the DSP module, the FPGA
Module is connected with the SECO sampling module, the SECO sampling module respectively with the current collection circuit, rudder
Feedback collection circuit becomes circuit with rotation and is connected；
The FPGA module includes being used for the SVPWM that SVPWM modulation output switch control signals are carried out to the controlled quentity controlled variable
Modulation module.
As further improvement of the utility model, the FPGA processor also includes being used to monitor dc bus electricity in real time
The current limliting detection module of current voltage, the current limliting detection module are connected with the FPGA module.
As further improvement of the utility model, the power supply includes：DC/DC power modules, power management chip and
Three terminal regulator；
The DC/DC power modules are connected with the power management chip and three terminal regulator respectively, the power management
Chip is connected with the DSP Processor and FPGA processor respectively, the three terminal regulator respectively with the current collection circuit,
Rudder feedback collection circuit, rotation become circuit, drive circuit is connected with interface circuit.
Compared with prior art, the beneficial effects of the utility model are：
The utility model uses the highly integrated full digital processing devices of DSP+FPGA, have it is low in energy consumption, programmability is strong, and has
Strong antijamming capability feature, can effectively solve the problem that signal cross-talk and attenuation problem；The utility model is responsible for control using DSP and calculated
Method, FPGA are responsible for sampling and modulation algorithm, can substantially reduce DSP controlling cycles, improve the control speed and precision of controller；
FPGA module of the present utility model by set output IO can output multi-channel PWM drive signal, so as to realize to multi-channel electric
Servo control mechanism is controlled.
Brief description of the drawings
Fig. 1 is a kind of disclosed number for being applied to multichannel permanent magnet synchronous electric type servos control of embodiment of the utility model
The frame diagram of word controller；
Fig. 2 is the frame diagram of DSP Processor in Fig. 1；
Fig. 3 is the frame diagram of FPGA processor in Fig. 1.
In figure：
10th, DSP Processor；11st, DSP module；12nd, communication module；13rd, RAM module；14th, vector controlled computing module；
15th, controlled quentity controlled variable generation module；20th, FPGA processor；21st, FPGA module；22nd, SECO sampling module；23rd, SVPWM is modulated
Module；24th, current limliting detection module；30th, current collection circuit；40th, rudder feedback collection circuit；50th, rotation becomes circuit；60th, driving electricity
Road；70th, interface circuit；80th, power supply.
Embodiment
It is new below in conjunction with this practicality to make the purpose, technical scheme and advantage of the utility model embodiment clearer
Accompanying drawing in type embodiment, the technical scheme in the embodiment of the utility model is clearly and completely described, it is clear that is retouched
The embodiment stated is part of the embodiment of the present utility model, rather than whole embodiments.Based on the reality in the utility model
Apply example, the every other embodiment that those of ordinary skill in the art are obtained on the premise of creative work is not made, all
Belong to the scope of the utility model protection.
, it is necessary to explanation in description of the present utility model, term " " center ", " on ", " under ", it is "left", "right", " perpendicular
Directly ", the orientation of the instruction such as " level ", " interior ", " outer " or position relationship are based on orientation shown in the drawings or position relationship, are only
Described for the ease of description the utility model and simplifying, rather than instruction or imply signified device or element must have it is specific
Orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.In addition, term " the
One ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that instruction or hint relative importance.
In description of the present utility model, it is also necessary to explanation, unless otherwise clearly defined and limited, term " peace
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
Concrete meaning of the language in the utility model.
The utility model discloses a kind of digitial controller suitable for multichannel permanent magnet synchronous electric type servos control,
DSP Processor is connected with FPGA processor by address bus, data/address bus with controlling bus, the input of DSP Processor with
Interface circuit is connected；The first input end of FPGA processor is connected with the output end of current collection circuit, and the of FPGA processor
Two inputs are connected with the output end of rudder feedback collection circuit, and the 3rd input of FPGA processor becomes the output end of circuit with rotation
It is connected, the output end of FPGA processor is connected with the input of drive circuit；The output end of power supply respectively with DSP Processor and
FPGA processor is connected.Processor of the present utility model is DSP+FPGA frameworks, and two processors are total by address bus, data
Line and controlling bus carry out data interaction, and DSP is responsible for control algolithm, and FPGA is sampled to peripheral circuit signal, then passed through
Addressing system is read out the data after FPGA processing, DSP sampling time is saved, so as to improve control algolithm；This reality
With the defects of new data processing speed for successfully solving traditional servo system is slow, autgmentability is poor, there is versatility height, computing
The features such as speed is fast, port number easily extends.
The utility model is described in further detail below in conjunction with the accompanying drawings：
As Figure 1-3, the utility model provides a kind of number suitable for multichannel permanent magnet synchronous electric type servos control
Word controller, including：Processor (DSP Processor 10 and FPGA processor 20), current collection circuit 30, rudder feedback collection circuit
40th, rotation becomes circuit 50, drive circuit 60, interface circuit 70 and power supply 80；Wherein：
DSP Processor 10 is connected with FPGA processor 20 by address bus, data/address bus with controlling bus, DSP processing
Device 10 and FPGA processor 20 carry out data interaction by address bus, data/address bus and controlling bus；DSP Processor 10 it is defeated
Enter end with interface circuit 70 to be connected；The first input end of FPGA processor 20 is connected with the output end of current collection circuit 30,
Second input of FPGA processor 20 is connected with the output end of rudder feedback collection circuit 40, the 3rd input of FPGA processor 20
The output end for becoming circuit 50 with rotation is held to be connected, the output end of FPGA processor 20 and the input phase of the drive circuit 60 of steering wheel
Even；The output end of power supply 80 is connected with DSP Processor 10 and FPGA processor 20 respectively, and power supply 80 is the He of DSP Processor 10
FPGA processor 20 provides digital power.
Current collection circuit 30 of the present utility model gathers permagnetic synchronous motor three-phase phase current, by signal conditioning circuit
FPGA processor 20 is passed to after processing；Rudder feedback collection circuit 40 gathers steering wheel deflection angle, is handled by signal conditioning circuit
After pass to FPGA processor 20；Rotation becomes circuit 50 and gathers permanent-magnetic synchronous motor rotor angle, becomes resolving circuit transmission through overwinding
To FPGA processor 20；FPGA processor 20 gathers above analog quantity by SECO sampling module 22, then believes simulation
Number it is changed into data signal.DSP Processor 10 reads FPGA processing by bus (address bus, data/address bus and controlling bus)
Electric current that device 20 gathers, steering wheel deflection angle, the signal such as permanent-magnetic synchronous motor rotor angle；DSP Processor 10 will pass through vector control
Controlled quentity controlled variable after algorithm processed resolves is sent to FPGA processor 20, after FPGA processor 20 receives controlled quentity controlled variable, when passing through logic
Sequence realizes SVPWM switching signals, and motor-drive circuit 60 forms three-phase bridge type converter driving letter according to FPGA input signals
Number, the implementation can be realized to be controlled to multi-channel electric servo control mechanism.
The utility model uses the highly integrated full digital processing devices of DSP+FPGA, have it is low in energy consumption, programmability is strong, and has
Strong antijamming capability feature, can effectively solve the problem that signal cross-talk and attenuation problem；The utility model is responsible for control using DSP and calculated
Method, FPGA are responsible for sampling and modulation algorithm, can substantially reduce DSP controlling cycles, improve the control speed and precision of controller；
FPGA module of the present utility model by set output IO can output multi-channel PWM drive signal, so as to realize to multi-channel electric
Servo control mechanism is controlled；The FPGA module that the utility model uses has the characteristic of user-programmable, strengthens electrical servo machine
The parallel control of structure.
As shown in Fig. 2 DSP Processor 10 of the present utility model includes：DSP module 11, communication module 12 and RAM module
13, DSP module 11 includes the vector controlled computing module 14 and generation control steering wheel controlled quentity controlled variable for motor vector controlled computing
Controlled quentity controlled variable generation module 15；DSP module 11 passes through address bus, data/address bus and controlling bus and the phase of FPGA processor 20
Even, DSP module 11 is connected by communication module 12 with host computer (not shown), and DSP module 11 is initially joined with being stored with PID
Several RAM modules 13 is connected.Wherein：
DSP module 11 is the nucleus module of DSP Processor 10, undertakes and coordinates other module normal works, controls each module
Between data normally transmit；The data such as rudder that DSP module 11 reads FPGA processor 20 by bus feeds back, permagnetic synchronous motor
The data such as stator phase currents, rotor angle, and above-mentioned data can be fed back to host computer through communication module 12.Host computer sends rudder control
It is 11 readable data signal of DSP module that instruction resolves by communication module 12, and above-mentioned DSP module 11 receives readable data signal
The vector controlled computing module 14 being admitted in DSP module 11 is participated in into computing afterwards, wherein vector controlled computing is mainly PID fortune
Calculate, steering wheel closed-loop control can be achieved, and PID initial parameters are read from RAM module 13.It will controlled after vector calculus module 14
The controlled quentity controlled variable of control steering wheel is produced in amount generation module 15 processed respectively, passes through the external memory space (XINTF) in DSP module 11
In certain address field storage above controlled quentity controlled variable.
The rudder control instruction that the real-time reception host computer of communication module 12 is sent, at the same it is same to host computer feedback rudder feedback, permanent magnetism
Walk the data such as motor stator phase current, rotor angle.
As shown in figure 3, FPGA processor 20 of the present utility model includes：FPGA module 21, SECO sampling module 22
With current limliting detection module 23, FPGA module 21 includes being used for carrying out controlled quentity controlled variable SVPWM modulation output switch control signals
SVPWM modulation modules 24；FPGA module 21 is connected by address bus, data/address bus and controlling bus with DSP module 11, FPGA
Module 21 is connected with SECO sampling module 22, and SECO sampling module 22 feeds back with current collection circuit 30, rudder respectively
Acquisition Circuit 40 becomes circuit 50 with rotation and is connected；Wherein：
FPGA module 21 passes through the control electric current Acquisition Circuit 30 of SECO sampling module 22, the and of rudder feedback collection circuit 40
Rotation becomes the normal works such as circuit 50, reads the digital quantity after converting above, and can use medium filtering or digital filtering, subtracts
Few signal noise interference, realizes signals revivification；FPGA module 21 is by controlling bus, address bus, data/address bus is realized and DSP
Module 11 carries out data interaction, by setting identical address, reads the controlled quentity controlled variable that DSP Processor 10 is stored in XINTF；Pass through
The SVPWM modulation algorithms of SVPWM modulation modules 24, output switch control signal, can motor drive circuit 60, realize to more
Road servo driving purpose.
Current limliting detection module 23 is connected with FPGA module 21, and current limliting detection module 23 monitors DC bus-bar voltage electricity in real time
Stream, when there is over-current phenomenon avoidance, tube sealing signal is produced at once, prevents the excessive damage power device of electric current.
Power supply 80 of the present utility model includes：DC/DC power modules, power management chip and three terminal regulator are (in figure not
Show)；DC/DC power modules are connected with power management chip and three terminal regulator respectively, power management chip respectively with DSP
Reason device 10 is connected with FPGA processor 20, and three terminal regulator becomes with current collection circuit 30, rudder feedback collection circuit 40, rotation respectively
Circuit 50, drive circuit 60 are connected with interface circuit 70.Wherein, power supply 80 completes the conversion of various voltages needed for control, power supply
Managing chip is responsible for providing DSP Processor 10, FPGA processor 20 and IO supply voltages, such as 1.2V, 1.5V, 1.8V, 3.3V；
DC/DC power modules provide 28VDC Power converts to chip normal working voltage for 15VDC and 5VDC；Three terminal regulator generation+
10V, -10V supply voltage, there is provided the peripheral chip such as rudder feedback collection chip uses.
The utility model solves traditional synchronous permanent-magnet motor servo digital controller and has that arithmetic speed is slow, control way
Less, the problems such as controlling cycle is long.Electric servo-controller of the present utility model is using FPGA collections electric current, angle of rudder reflection, rotor
The signals such as angle, DSP need to only be responsible for vector control algorithm computing, can substantially reduce system controlling cycle, improve system response
Speed.Meanwhile the technical solution of the utility model, also can be in DC brush, brushless electric servo control mechanism.
Preferred embodiment of the present utility model is these are only, is not limited to the utility model, for this area
Technical staff for, the utility model can have various modifications and variations.It is all within the spirit and principles of the utility model,
Any modification, equivalent substitution and improvements made etc., should be included within the scope of protection of the utility model.
Claims (5)
- A kind of 1. digitial controller suitable for multichannel permanent magnet synchronous electric type servos control, it is characterised in that including：DSP Processor, FPGA processor, current collection circuit, rudder feedback collection circuit, rotation become circuit, drive circuit, interface circuit and electricity Source；The DSP Processor is connected with FPGA processor by address bus, data/address bus with controlling bus, the DSP processing The input of device is connected with the interface circuit；The first input end of the FPGA processor is defeated with the current collection circuit Go out end to be connected, the second input of the FPGA processor is connected with the output end of the rudder feedback collection circuit, the FPGA The output end that 3rd input of processor becomes circuit with the rotation is connected, the output end of the FPGA processor and the driving The input of circuit is connected；The output end of the power supply is connected with the DSP Processor and FPGA processor respectively.
- 2. being used for the digitial controller of multichannel permanent magnet synchronous electric type servos control as claimed in claim 1, its feature exists In the DSP Processor includes：DSP module, communication module and RAM module；The DSP module is connected by address bus, data/address bus and controlling bus with the FPGA processor, the DSP moulds Block is connected by the communication module with host computer, the DSP module and the RAM module phase for being stored with PID initial parameters Even；The DSP module includes the vector controlled computing module and generation control steering wheel controlled quentity controlled variable for motor vector controlled computing Controlled quentity controlled variable generation module.
- 3. being used for the digitial controller of multichannel permanent magnet synchronous electric type servos control as claimed in claim 2, its feature exists In the FPGA processor includes：FPGA module and SECO sampling module；The FPGA module is connected by address bus, data/address bus and controlling bus with the DSP module, the FPGA module It is connected with the SECO sampling module, the SECO sampling module feeds back with the current collection circuit, rudder respectively Acquisition Circuit becomes circuit with rotation and is connected；The SVPWM that the FPGA module includes being used for carrying out the controlled quentity controlled variable SVPWM modulation output switch control signals is modulated Module.
- 4. being used for the digitial controller of multichannel permanent magnet synchronous electric type servos control as claimed in claim 3, its feature exists In the FPGA processor also includes being used for the current limliting detection module for monitoring DC bus-bar voltage electric current in real time, the current limliting inspection Module is surveyed with the FPGA module to be connected.
- 5. being used for the digitial controller of multichannel permanent magnet synchronous electric type servos control as claimed in claim 1, its feature exists In the power supply includes：DC/DC power modules, power management chip and three terminal regulator；The DC/DC power modules are connected with the power management chip and three terminal regulator respectively, the power management chip It is connected respectively with the DSP Processor and FPGA processor, the three terminal regulator is anti-with the current collection circuit, rudder respectively Feedback Acquisition Circuit, rotation become circuit, drive circuit is connected with interface circuit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721218149.2U CN207150476U (en) | 2017-09-15 | 2017-09-15 | A kind of digitial controller suitable for multichannel permanent magnet synchronous electric type servos control |
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| CN201721218149.2U CN207150476U (en) | 2017-09-15 | 2017-09-15 | A kind of digitial controller suitable for multichannel permanent magnet synchronous electric type servos control |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109495051A (en) * | 2018-11-20 | 2019-03-19 | 陕西航空电气有限责任公司 | A kind of aviation starting motor position detection redundancy control method |
-
2017
- 2017-09-15 CN CN201721218149.2U patent/CN207150476U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109495051A (en) * | 2018-11-20 | 2019-03-19 | 陕西航空电气有限责任公司 | A kind of aviation starting motor position detection redundancy control method |
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