CN102969949A - Servo controller of high-precision permanent magnet synchronous motor - Google Patents
Servo controller of high-precision permanent magnet synchronous motor Download PDFInfo
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- CN102969949A CN102969949A CN2012104285701A CN201210428570A CN102969949A CN 102969949 A CN102969949 A CN 102969949A CN 2012104285701 A CN2012104285701 A CN 2012104285701A CN 201210428570 A CN201210428570 A CN 201210428570A CN 102969949 A CN102969949 A CN 102969949A
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Abstract
A servo controller of a high-precision permanent magnet synchronous motor relates to the technical field of alternating current motor control and solves the problem that a controller of the existing permanent magnet synchronous motor cannot meet requirements of high-precision motor control. The servo controller comprises a floating-point type digital signal processor (DSP) chip, a field programmable gate array (FPGA) chip, an encoder signal interface unit, a current detection unit and a digital input/output (I/O) interface unit. The encoder signal interface unit inputs pulse signals to the FPGA chip, the current detection unit inputs a current sampling value in the FPGA chip, the I/O interface unit receives breakdown signals and inputs the breakdown signal in the FPGA chip, the floating-point type DSP chip produces pulse-width modulation (PWM) control signal cycle interrupt service routines and reads the current sampling value through the FPGA chip through an external memory visiting access, a controller algorithm of a speed ring and a space vector algorithm of an electric current ring are carried out, and new PWM control signals and breakdown signals after fault protection processing of the FPGA chip are output through the digital I/O interface unit to drive external power levels. The servo controller is reliable in performance and high in operation accuracy.
Description
Technical field
The present invention relates to alternating current machine servo control technique field, be specifically related to a kind of high accuracy permagnetic synchronous motor servo controller.
Background technology
In recent years, permagnetic synchronous motor with its volume is little, simple in structure, efficient is high, power density is high, torque current than high, be easy to the characteristics such as heat radiation and maintenance, pay attention to widely and study and be subject to people.To the general magnetic field space vector pulse-width modulation strategy (SVPWM) that adopts of high accuracy control of permagnetic synchronous motor, need to design Permanent Magnet Synchronous Motor Controller for this modulation strategy at present.
Existing Permanent Magnet Synchronous Motor Controller adopts single-chip digital signal processor DSP and cooperates the peripheral circuit module of some curing to finish Electric Machine Control, the weak point of its existence is: the one, and digital signal processor DSP adopts fixed point type dsp chip, can't high-precisionly finish in real time complicated control algolithm; The 2nd, peripheral module solidifies, and can't upgrade and transforms the controller overall structure, and therefore, existing Permanent Magnet Synchronous Motor Controller can not satisfy the needs of high-precision motor control fully, especially to the higher occasion of Electric Machine Control low-speed performance requirement.
Summary of the invention
Can not satisfy the problem of high-precision motor control needs in order to solve existing Permanent Magnet Synchronous Motor Controller fully, the invention provides a kind of high accuracy permagnetic synchronous motor servo controller.
The present invention is that the technical scheme that adopts of technical solution problem is as follows:
A kind of high accuracy permagnetic synchronous motor servo controller comprises:
The floating type dsp chip;
The fpga chip that links to each other with described floating type dsp chip;
The code device signal interface unit that links to each other with described fpga chip is used for A, B, Z three road pulse signals are inputed to the fpga chip horizontal pulse counting of going forward side by side, and obtains the incremental encoder count value and calculates electrical degree and the actual speed value;
The current detecting unit that links to each other with described fpga chip is used for current sampling data is inputed to fpga chip;
The digital I/O interface unit that links to each other with described fpga chip is used for receiving the fault-signal of external power level and fault-signal is inputed to fpga chip;
When producing the pwm control signal cycle interruption, carries out described floating type dsp chip interrupt service routine; the floating type dsp chip will be by self external memory access interface from fpga chip reading current sampled value; according to the electrical degree that calculates and actual speed value; the PWM Algorithm of execution speed ring controller algorithm and electric current loop; produce new pwm control signal and input to fpga chip; fpga chip carries out exporting and drive the external power level through digital I/O interface unit after error protection is processed to new pwm control signal and fault-signal, and then the control permagnetic synchronous motor.
This controller also comprise the peripheral human-machine interface unit that links to each other with described floating type dsp chip and, with the ethernet communication unit that described peripheral human-machine interface unit links to each other with fpga chip, described peripheral human-machine interface unit comprises:
The LCDs that links to each other with described floating type dsp chip can show the control information of permagnetic synchronous motor servo controller control system in real time by controlling described LCDs;
With the manual load button that described floating type dsp chip links to each other, utilize described manual load button can control startup and the brake of permagnetic synchronous motor;
The RS232 communication interface and the CAN communication interface that link to each other with described floating type dsp chip;
The host computer that links to each other with the CAN communication interface with described RS232 communication interface;
Described floating type dsp chip carries out full-duplex communication by RS232 communication interface and CAN communication interface and host computer;
Described ethernet communication unit comprises:
The network controller DM9000 that links to each other with described fpga chip, described fpga chip is by described network controller DM9000 configuration ethernet messaging parameter;
With the Ethernet interface that described host computer links to each other, described fpga chip carries out the full-duplex high-speed transfer of data by described Ethernet interface and described host computer.
Described RS232 communication interface adopts the SP3223 chip; Described CAN communication interface adopts the SN65HVD230 chip,
Described dsp chip adopts the TMS320F28335 chip; Described fpga chip adopts the EP3C40F324 chip of ALTERA company.
Described code device signal interface unit comprises:
2 railway digital code device signal interfaces receive from A, B, Z three road pulse signals of digital encoder and input to fpga chip;
1 road analog encoder signals interface receives from A, B, Z three road pulse signals of analog encoder and inputs to fpga chip.
Described current detecting unit comprises:
The current sensor signal input interface receives the voltage signal from current sensor;
Voltage conditioning and filter amplification circuit, will be converted to by the voltage signal of current sensor signal input interface input-10V ~+the interior normal voltage of 10V scope;
16 AD conversion chips gather the normal voltage from voltage conditioning and filter amplification circuit.
Described 16 AD conversion chips adopt the AD7656 chip.
The minimum detection electric current of described current detecting unit is 0.76mA; The conditioning of described voltage and filter amplification circuit can be amplified 16 times with the biphase current of the permagnetic synchronous motor that detects; Resistance value in described voltage conditioning and the filter amplification circuit must satisfy: R3=R4=10k Ω, R5=R6=160 k Ω.
Described digital I/O interface unit comprises:
16 railway digital input interfaces be used for to receive the fault-signal of external power level, and fault-signal is inputed to fpga chip;
16 railway digital output interfaces are used for the pwm control signal after output is processed by fpga chip and drive the external power level;
The isolation of magnetic coupling; Isolation permagnetic synchronous motor servo controller and external power level prevent electric current flowing between two communications, the protection fpga chip.
The ADuM141x four-way digital isolator of ADI company is adopted in described magnetic coupling isolation.
The invention has the beneficial effects as follows: a kind of high accuracy permagnetic synchronous motor servo controller of the present invention, adopted fpga chip to assist the mode of main control chip dsp chip in the design of structure, greatly reduce the task processing time of master controller, guaranteed the control system real-time of controller; Current detecting unit can high-precision detection weak current signal, so that dsp chip carries out the accurate Calculation of electric current loop, is specially adapted to the low speed control of permagnetic synchronous motor; Simultaneously, dsp chip adopts a kind of floating type chip, the computational accuracy when having improved floating point arithmetic.Controller of the present invention has flexible structure, dependable performance, operational precision high.
Description of drawings
Fig. 1 is the structural representation of a kind of high accuracy permagnetic synchronous motor servo controller of the present invention;
Fig. 2 is each the unit module detailed construction schematic diagram among Fig. 1;
Fig. 3 is voltage conditioning among the present invention and the schematic diagram of filter amplification circuit.
Among the figure: 1, the floating type dsp chip, 2, fpga chip, 3, the code device signal interface unit, 4, current detecting unit, 31,2 railway digital code device signal interfaces, 32,1 road analog encoder signals interface, 41, the current sensor signal input interface, 42, voltage conditioning and filter amplification circuit, 43,16 AD conversion chips, 5, numeral I/O interface unit, 51,16 railway digital input interfaces, 52,16 railway digital output interfaces, 53, the isolation of magnetic coupling, 6, peripheral human-machine interface unit, 61, LCDs, 62, manual load button, 63, the RS232 communication interface, 64, the CAN communication interface, 65, host computer, 7, the ethernet communication unit, 71, network controller DM9000,72, Ethernet interface.
Embodiment
Below in conjunction with accompanying drawing the present invention is described in further detail.
As shown in Figure 1, a kind of high accuracy permagnetic synchronous motor servo controller of the present invention mainly is comprised of main controller module and co-processor module two large divisions.
Main controller module comprises floating type dsp chip 1 and peripheral human-machine interface unit 6, and co-processor module comprises fpga chip 2, code device signal interface unit 3, current detecting unit 4, digital I/O interface unit 5 and ethernet communication unit 7; Peripheral human-machine interface unit 6 is connected with floating type dsp chip 1, fpga chip 2 is connected with floating type dsp chip 1, and code device signal interface unit 3, current detecting unit 4, digital I/O interface unit 5 and ethernet communication unit 7 are connected with fpga chip 2 respectively.
Floating type dsp chip 1 is the core of permagnetic synchronous motor servo controller of the present invention, be connected with fpga chip 2 with peripheral human-machine interface unit 6, floating type dsp chip 1 adopts a kind of floating type dsp chip TMS320F28335, than fixed point type dsp chip, floating type dsp chip 1 has higher computational accuracy when carrying out floating point arithmetic, floating type dsp chip 1 communicates by self external memory access interface XINTF and fpga chip 2, from fpga chip 2 reading current sampled values, then the PWM Algorithm of execution speed ring controller algorithm and electric current loop produces pwm control signal and is input to fpga chip 2.
Peripheral human-machine interface unit 6 comprises LCDs 61, manual load button 62, RS232 communication interface 63, CAN communication interface 64 and host computer 65, LCDs 61, manual load button 62, RS232 communication interface 63 is connected with floating type dsp chip 1 respectively with CAN communication interface 64, RS232 communication interface 63 is connected with host computer 65 respectively with CAN communication interface 64, RS232 communication interface 63 adopts the SP3223 chip, CAN communication interface 64 adopts the SN65HVD230 chip, floating type dsp chip 1 can show the control information of permagnetic synchronous motor servo controller control system in real time by controlling LCDs 61, comprise angular speed and system running state etc.; Utilize manual load button 62 can control startup and the brake of permagnetic synchronous motor; Floating type dsp chip 1 is by selecting the full-duplex communication of RS232 communication interface 63 or 64 realizations of CAN communication interface and host computer 65.
Fpga chip 2 adopts the EP3C40F324 chip of ALTERA company, be connected with ethernet communication unit 7 with code device signal interface unit 3, current detecting unit 4, digital I/O interface unit 5, collaborative floating type dsp chip 1 communicates and from 16 AD conversion chips, 43 reading current sampled values; Reception is from A, B, the Z pulse signal of code device signal interface unit 3 and count; Send the encoder position information of permagnetic synchronous motor to host computer 65 by ethernet communication unit 7; To carry out the error protection processing from the pwm control signal of floating type dsp chip 1 and the external power level fault-signal of digital I/O interface unit 5.
Code device signal interface unit 3 comprises 2 railway digital code device signal interfaces 31 and 1 road analog encoder signals interface 32, the code device signal interface different according to the type selecting of external encoder.
Digital encoder adopts the SP489 chip, A+, A-, B+, B-, Z+, Z-six railway digital differential signals are converted to A, B, Z three road pulse signals input to the fpga chip 2 horizontal pulse counting of going forward side by side by 2 railway digital code device signal interfaces 31,2 railway digital code device signal interfaces 31 can realize controlling simultaneously two permanent magnet synchronous motors; Analog encoder adopts the iC-NQI chip, SIN+, SIN-, COS+, COS-, ZERO+, ZERO-six road analog difference signals is converted to A, B, Z three road pulse signals inputs to the fpga chip 2 horizontal pulse counting of going forward side by side by 1 road analog encoder signals interface 32.
As shown in Figure 2, voltage conditioning and filter amplification circuit 42, amplifier A plays the effect of voltage follow, amplifier B is as operational amplifier, by benchmark 2.5V voltage be 1.875V ~ 3.125V voltage transitions-10V ~+normal voltage of 10V, thereby the biphase current of the permagnetic synchronous motor that detects is amplified 16 times; Resistance value must satisfy: R3=R4=10k Ω, R5=R6=160 k Ω, the precision of resistance value is higher, then the common-mode rejection ratio of differential amplifier U1 is larger, the precision of voltage conditioning and filter amplification circuit 42 is just higher, current detecting unit 4 has been realized the high-precision current sampling, and the minimum detection electric current is 0.76mA.
Ethernet communication unit 7 comprises network controller DM900071 and Ethernet interface 72; Fpga chip 2 is by network controller DM900071 configuration ethernet messaging parameter, and Ethernet interface 72 is connected with host computer 65, by the full-duplex high-speed transfer of data of Ethernet interface 72 realizations with host computer 65.
Numeral I/O interface unit 5 comprises 16 railway digital input interfaces 51,16 railway digital output interfaces 52 and magnetic coupling isolation 53; 16 railway digital input interfaces 51 are used for receiving the fault-signal of external power level, and fault-signal is inputed to fpga chip 2 by magnetic coupling isolation 53; 2 pairs of fpga chips are from the pwm control signal of floating type dsp chip 1 and carry out error protection from the fault-signal of external power level and process, and the signal after processing is exported to 16 railway digital output interfaces 52 and drives the external power level by magnetic coupling isolation 53 again; The ADuM141x four-way digital isolator of ADI company is adopted in magnetic coupling isolation 53; permagnetic synchronous motor servo controller and external power level are kept apart in magnetic coupling isolation 53; prevent that electric current from flowing between these two parts; but allow to have between 2 data or power to transmit; therefore; make that association's process chip is to keep apart between fpga chip 2 and each interface system in the control system of permagnetic synchronous motor servo controller, play assisting the good protective effect of process chip.
The specific works process of a kind of high accuracy permagnetic synchronous motor servo controller of the present invention is: the control method of Id=0 is selected in the control of permagnetic synchronous motor, according to this control method the pwm control signal cycle interruption that the cycle is 10kHZ ~ 20kHZ is set in floating type dsp chip 1; When producing the pwm control signal cycle interruption, carries out floating type dsp chip 1 interrupt service routine, floating type dsp chip 1 reads permagnetic synchronous motor two-phase winding electric flow valuve Ia and the Ib that the current sensor from fpga chip 2 detects by self external memory access interface XINTF in interrupt service routine, and then read incremental encoder count value from fpga chip 2, calculate electrical degree θ and actual speed value; Deviation according to speed guiding value and actual speed value, the reference value of execution speed controller PI control algolithm and output current Iq, utilize the above-mentioned electric current I a that provides, Ib and electrical degree θ execution Clark conversion and Park conversion to obtain the actual value of Id and Iq, the electric current I d and the Iq that obtain compare with reference value, and by the PI current controller it are proofreaied and correct; Then by Park inverse transformation and space vector modulation technique, obtain new pwm control signal; Last floating type dsp chip 1 exports new pwm control signal to fpga chip 2; the fault-signal of 2 pairs of pwm control signals of fpga chip and external power level carries out exporting 16 railway digital output interfaces 52 to and driving the external power level through magnetic coupling isolation 53 after error protection is processed, thereby realizes the high accuracy control to permagnetic synchronous motor.
Claims (10)
1. a high accuracy permagnetic synchronous motor servo controller is characterized in that, comprising:
Floating type dsp chip (1);
The fpga chip (2) that links to each other with described floating type dsp chip (1);
The code device signal interface unit (3) that links to each other with described fpga chip (2) is used for A, B, Z three road pulse signals are inputed to fpga chip (2) the horizontal pulse counting of going forward side by side, and obtains the incremental encoder count value and calculates electrical degree and the actual speed value;
The current detecting unit (4) that links to each other with described fpga chip (2) is used for current sampling data is inputed to fpga chip (2);
The digital I/O interface unit (5) that links to each other with described fpga chip (2) is used for receiving the fault-signal of external power level and fault-signal is inputed to fpga chip (2);
When producing the pwm control signal cycle interruption, carries out described floating type dsp chip (1) interrupt service routine; floating type dsp chip (1) will be by self external memory access interface from fpga chip (2) reading current sampled value; according to the electrical degree that calculates and actual speed value; the PWM Algorithm of execution speed ring controller algorithm and electric current loop; produce new pwm control signal and input to fpga chip (2); fpga chip (2) carries out exporting and drive the external power level through digital I/O interface unit (5) after error protection is processed to new pwm control signal and fault-signal, and then the control permagnetic synchronous motor.
2. a kind of high accuracy permagnetic synchronous motor servo controller according to claim 1, it is characterized in that, this controller also comprise the peripheral human-machine interface unit (6) that links to each other with described floating type dsp chip (1) and, with the ethernet communication unit (7) that described peripheral human-machine interface unit (6) links to each other with fpga chip (2), described peripheral human-machine interface unit (6) comprising:
The LCDs (61) that links to each other with described floating type dsp chip (1) can show the control information of permagnetic synchronous motor servo controller control system in real time by controlling described LCDs (61);
The manual load button (62) that links to each other with described floating type dsp chip (1) utilizes described manual load button (62) can control startup and the brake of permagnetic synchronous motor;
The RS232 communication interface (63) that links to each other with described floating type dsp chip (1) and CAN communication interface (64);
The host computer (65) that links to each other with CAN communication interface (64) with described RS232 communication interface (63);
Described floating type dsp chip (1) carries out full-duplex communication by RS232 communication interface (63) and CAN communication interface (64) with host computer (65);
Described ethernet communication unit (7) comprising:
The network controller DM9000(71 that links to each other with described fpga chip), described fpga chip (2) is by described network controller DM9000(71) the configuration ethernet messaging parameter;
The Ethernet interface (72) that links to each other with described host computer (65), described fpga chip (2) carries out the full-duplex high-speed transfer of data by described Ethernet interface (72) and described host computer (65).
3. a kind of high accuracy permagnetic synchronous motor servo controller according to claim 2 is characterized in that, described RS232 communication interface (63) adopts the SP3223 chip; Described CAN communication interface (64) adopts the SN65HVD230 chip.
4. a kind of high accuracy permagnetic synchronous motor servo controller according to claim 1 and 2 is characterized in that, described dsp chip (1) adopts the TMS320F28335 chip; Described fpga chip (2) adopts the EP3C40F324 chip of ALTERA company.
5. a kind of high accuracy permagnetic synchronous motor servo controller according to claim 1 is characterized in that described code device signal interface unit (3) comprising:
2 railway digital code device signal interfaces (31) receive from A, B, Z three road pulse signals of digital encoder and input to fpga chip (2);
1 road analog encoder signals interface (32) receives from A, B, Z three road pulse signals of analog encoder and inputs to fpga chip (2).
6. a kind of high accuracy permagnetic synchronous motor servo controller according to claim 1 is characterized in that described current detecting unit (4) comprising:
Current sensor signal input interface (41) receives the voltage signal from current sensor;
Voltage conditioning and filter amplification circuit (42), will be converted to by the voltage signal of current sensor signal input interface (41) input-10V ~+the interior normal voltage of 10V scope;
16 AD conversion chips (43) gather the normal voltage from voltage conditioning and filter amplification circuit (42).
7. a kind of high accuracy permagnetic synchronous motor servo controller according to claim 6 is characterized in that, described 16 AD conversion chips (43) adopt the AD7656 chip.
8. a kind of high accuracy permagnetic synchronous motor servo controller according to claim 6 is characterized in that the minimum detection electric current of described current detecting unit (4) is 0.76mA; The conditioning of described voltage and filter amplification circuit (42) can be amplified 16 times with the biphase current of the permagnetic synchronous motor that detects; Resistance value in described voltage conditioning and the filter amplification circuit (42) must satisfy: R3=R4=10k Ω, R5=R6=160 k Ω.
9. a kind of high accuracy permagnetic synchronous motor servo controller according to claim 1 is characterized in that described digital I/O interface unit (5) comprising:
16 railway digital input interfaces (51) be used for to receive the fault-signal of external power level, and fault-signal is inputed to fpga chip (2);
16 railway digital output interfaces (52) are used for the pwm control signal after output is processed by fpga chip (2) and drive the external power level;
Magnetic coupling isolation (53); Isolation permagnetic synchronous motor servo controller and external power level prevent electric current flowing between two communications, protection fpga chip (2).
10. a kind of high accuracy permagnetic synchronous motor servo controller according to claim 9 is characterized in that, the ADuM141x four-way digital isolator of ADI company is adopted in described magnetic coupling isolation (53).
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| CN103701382A (en) * | 2013-12-17 | 2014-04-02 | 华中科技大学 | FPGA (field programmable gate array)-based permanent magnet synchronous motor current loop bandwidth expansion device |
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Application publication date: 20130313 |