WO2020098746A1

WO2020098746A1 - Hardware acceleration method for current loop in control algorithm for permanent magnet synchronous motor

Info

Publication number: WO2020098746A1
Application number: PCT/CN2019/118519
Authority: WO
Inventors: 李磊; 李桂阳; 张雷
Original assignee: 苏州绿控新能源科技有限公司
Priority date: 2018-11-14
Filing date: 2019-11-14
Publication date: 2020-05-22
Also published as: CN109194230A

Abstract

A hardware acceleration method for a current loop in a control algorithm for a permanent magnet synchronous motor, for use in achieving a current loop in a control algorithm for a permanent magnet synchronous motor by means of an MCU and FPGA combined architecture and by utilizing the data parallel processing capability of FPGA. An MCU and an FPGA are comprised, and the FPGA is responsible for calculating a current loop. The FPGA obtains a current instruction from the MCU, samples a three-phase current from a current sensor, obtains the rotor position from a resolver decoding chip, internally calculates a current loop, and then sends PWM duty cycle to a drive circuit.

Description

Hardware acceleration method of current loop in permanent magnet synchronous motor control algorithm

This disclosure requires the priority of a Chinese patent application filed with the China Patent Office on November 14, 2018 with the application number 201811352318.0. The entire contents of the above applications are incorporated by reference in this disclosure.

Technical field

The present application relates to the technical field of motor load / unload control, for example, to a current loop hardware acceleration method in a permanent magnet synchronous motor control algorithm.

Background technique

Motors for new energy vehicles generally use permanent magnet synchronous motors (PMSM). PMSM is controlled by vector control technology, and the current loop is an important part of it. Current loop calculation requires a certain amount of time resources. At the current hardware level, this time resource limits the bandwidth of the current loop control.

Summary of the invention

This application provides a current loop hardware acceleration method in a permanent magnet synchronous motor control algorithm. It uses the combination of MCU and FPGA architecture and uses FPGA's ability to process data in parallel to implement the current loop in the permanent magnet synchronous motor control algorithm.

A hardware acceleration method of current loop in the control algorithm of permanent magnet synchronous motor, including MCU, FPGA, FPGA is responsible for calculating the current loop, FPGA obtains current commands from MCU, samples three-phase current from current sensor, and obtains rotor position from resolver decoder chip. The current loop is internally calculated, and then the pulse width modulation signal (PWM) duty cycle is sent to the drive circuit.

The FPGA includes a communication module, an algorithm processing unit module, a current sampling module, a position reading module, and a PWM module. The current command issued by the MCU is transmitted to the communication module, and the communication module transmits the current command to the algorithm processing unit module. The external current sensor connects the three-phase current signal to the current sampling module, the resolver decoding chip imports the rotor position signal to the position reading module, and the algorithm processing unit module reads the three-phase current signal and the rotor After the position signal, the current loop is internally calculated, and then the PWM duty ratio is output to the PWM module, and then the PWM module sends the PWM duty ratio to the external driving circuit.

The communication module is used for communication between the MCU and the FPGA, that is, obtaining the current command from the MCU.

The current sampling module is used to collect three-phase current signals and send them to the algorithm processing unit.

The position reading module is used to communicate with the resolver decoding chip and send the obtained rotor signal to the algorithm processing unit.

The algorithm processing unit module includes an instruction processing unit, a decoupling module, space vector modulation and a fault monitoring module; the instruction processing module processes the instruction signal according to the failure signal, if a failure occurs, the instruction is set to 0, otherwise the instruction is issued Send to the decoupling module; the decoupling module takes the current command signal, rotor position signal, three-phase current signal as input, runs the current loop decoupling control algorithm, and outputs the voltage control signal to the space vector modulation module; the space vector modulation The module calculates the duty cycle of the PWM drive signal according to the voltage control signal and sends it to the PWM module; the fault monitoring module monitors whether the control algorithm is in error and feeds the fault signal back to the command processing module.

The PWM module generates a complementary PWM driving waveform according to the duty cycle of the PWM driving signal in the algorithm processing unit and outputs it to the driving circuit.

After adopting the technical scheme of the present application, through the motor control architecture of MCU + FPGA and the ability of FPGA to process data in parallel, the current loop in the permanent magnet synchronous motor control algorithm is realized, and the bandwidth of the current loop is expanded without changing the switching frequency. Use the flexibility of MCU and the speed of FPGA processing data to improve the performance of position loop and speed loop

BRIEF DESCRIPTION

1 is a schematic block diagram of a current loop hardware acceleration method in a permanent magnet synchronous motor control algorithm provided by an embodiment of this application;

2 is a schematic block diagram of internal logic of an algorithm processing unit module provided by an embodiment of the present application.

detailed description

The present application will be specifically explained below with reference to the drawings and specific embodiments.

A hardware acceleration method of the current loop in the control algorithm of the permanent magnet synchronous motor, see Figure 1, Figure 2: including MCU, FPGA, FPGA is responsible for computing the current loop, FPGA obtains current instructions from the MCU, samples three-phase current from the current sensor, from the spin The variable decoding chip obtains the rotor position, internally calculates the current loop, and then sends the pulse width modulation signal (PWM) duty cycle to the drive circuit.

The FPGA includes a communication module, an algorithm processing unit module, a current sampling module, a position reading module, and a PWM module. The current command issued by the MCU is transmitted to the communication module. The communication module transmits the current command to the algorithm processing unit module. The phase current signal is connected to the current sampling module, the resolver decoding chip imports the rotor position signal to the position reading module, and the algorithm processing unit module internally calculates the current loop after reading the three-phase current signal and the rotor position signal, and then takes the PWM The duty cycle is output to the PWM module, and then the PWM module sends the PWM duty cycle to the external drive circuit.

The current sampling module is used to collect three-phase current signals and send them to the algorithm processing unit. .

The algorithm processing unit module includes an instruction processing unit, a decoupling module, space vector modulation and a fault monitoring module; the instruction processing module processes the instruction signal according to the failure signal, if a failure occurs, the instruction is set to 0, otherwise the instruction is issued to the decoupling Module; Decoupling module takes current command signal, rotor position signal, three-phase current signal as input, runs current loop decoupling control algorithm, and outputs voltage control signal to space vector modulation module; space vector modulation module calculates PWM drive according to voltage control signal The signal duty cycle is sent to the PWM module; the fault monitoring module monitors the control algorithm for errors and feeds back the fault signal to the command processing module.

Among them, the current loop decoupling control algorithm is compiled separately, which is not within the scope of protection of this application, so it will not be repeated here.

The PWM module generates complementary PWM driving waveforms according to the duty cycle of the PWM driving signal in the algorithm processing unit and outputs them to the driving circuit.

The Chinese name of the MCU in the article is the main control chip, and the Chinese name of the FPGA is the field programmable gate array device.

Its working principle is as follows: through the motor control architecture of MCU + FPGA, using the ability of FPGA to process data in parallel, the current loop in the permanent magnet synchronous motor control algorithm is realized, the bandwidth of the current loop is expanded without changing the switching frequency, and the MCU is used The flexibility and speed of FPGA data processing improve the performance of the position loop and speed loop.

Claims

A hardware acceleration method of current loop in the control algorithm of permanent magnet synchronous motor, including: MCU, FPGA, FPGA is responsible for calculating the current loop, FPGA obtains current commands from MCU, samples three-phase current from current sensor, and obtains rotor position from resolver decoder chip , The current loop is calculated internally, and then the PWM duty cycle is sent to the drive circuit.
The method for hardware acceleration of a current loop in a permanent magnet synchronous motor control algorithm according to claim 1, wherein the FPGA includes a communication module, an algorithm processing unit module, a current sampling module, a position reading module, a PWM module, and The current command issued by the MCU is transferred to the communication module, the communication module transfers the current command to the algorithm processing unit module, the external current sensor connects the three-phase current signal to the current sampling module, and the resolver decoding chip transfers the rotor position signal Imported to the position reading module, the algorithm processing unit module internally calculates the current loop after reading the three-phase current signal and rotor position signal, and then outputs the PWM duty cycle to the PWM module, and then the PWM module converts the PWM The duty cycle is sent to the external drive circuit.
The current loop hardware acceleration method in a permanent magnet synchronous motor control algorithm according to claim 2, wherein the communication module is used for communication between the MCU and the FPGA, that is, to obtain a current command from the MCU.
The method for hardware acceleration of a current loop in a permanent magnet synchronous motor control algorithm according to claim 3, wherein the current sampling module is used to collect three-phase current signals and send them to the algorithm processing unit.
A current loop hardware acceleration method in a permanent magnet synchronous motor control algorithm according to claim 4, wherein the position reading module is used to communicate with the resolver decoding chip and send the obtained rotor signal to the algorithm processing unit .
A current loop hardware acceleration method in a permanent magnet synchronous motor control algorithm according to claim 2, wherein the algorithm processing unit module includes an instruction processing unit, a decoupling module, a space vector modulation and a fault monitoring module; the instruction The processing module processes the command signal according to the fault signal. If a fault occurs, the command is set to 0, otherwise the command is issued to the decoupling module; the decoupling module takes the current command signal, rotor position signal, and three-phase current signal as inputs , The current loop decoupling control algorithm is run, and the voltage control signal is output to the space vector modulation module; the space vector modulation module calculates the duty cycle of the PWM drive signal according to the voltage control signal and sends it to the PWM module; the fault monitoring module monitors Whether the control algorithm is wrong, and feedback the fault signal to the instruction processing module.
A current loop hardware acceleration method in a permanent magnet synchronous motor control algorithm according to claim 2, wherein the PWM module generates complementary PWM drive waveforms based on the duty cycle of the PWM drive signal in the algorithm processing unit and outputs to the drive Circuit.