CN103048955B - The flexible electric machine control system of a kind of intelligent reconstruction based on FPAA and FPGA - Google Patents
The flexible electric machine control system of a kind of intelligent reconstruction based on FPAA and FPGA Download PDFInfo
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- CN103048955B CN103048955B CN201210509230.1A CN201210509230A CN103048955B CN 103048955 B CN103048955 B CN 103048955B CN 201210509230 A CN201210509230 A CN 201210509230A CN 103048955 B CN103048955 B CN 103048955B
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Abstract
The invention discloses the flexible driving control system for electric machine of a kind of intelligent reconstruction based on FPAA and FPGA, comprise FPGA algorithm computing unit, sensor unit, FPAA control module and IPM driver module, FPGA algorithm computing unit is used for various algorithms, the configuration host computer communication and whole hardware circuit of computing controller; Sensor unit is made up of various sensor and FPAA signal conditioning circuit, for the electric machine operation state of Real-Time Monitoring, for the control of motor provides relevant parameter; FPAA control module is used for the control of motor; IPM driver module is used for drive motor.The present invention utilizes FPGA and FPAA restructural feature to realize the flexibility of controller.This controller realizes different control strategy and implements and the control of dissimilar motor on same hardware circuit, enhances the versatility of circuit, flexibility, intelligent; The present invention adopts VLSI (very large scale integrated circuit) that entire system area is reduced greatly.
Description
Technical field
The present invention relates to the flexible electric machine control system of a kind of intelligent reconstruction, this system can convert control chip internal circuit according to different driving demands, realizes the soft control of real meaning, belongs to drived control field.
Background technology
In recent years, market, to the demand of universal and intelligent servo-control system, just increases by geometric series.Along with the development of electromechanical integration technology, equipment is more and more higher to the performance of control system, precision and reliability requirement, objectively needs servo-drive system to have higher control performance.Meanwhile, servo-control system is along with the development of application, and Function Integration Mechanismization has been trend of the times with application specialization.
Realize the versatility of servo-control system and intelligent, system must have very strong flexibility, following problem is mainly there is: the upgrading of (1) signal deteching circuit is difficult in current control system, current signal deteching circuit mainly applies discrete component or medium scale integration (MSI), after system becomes, whole circuit needs to redesign, and this makes, and the construction cycle is long, R&D costs are larger; (2) design experiences, professional knowledge require higher, although the total digitalization of control system trend does not still depart from mimic channel when the sample circuit of signal, the design of current mimic channel requires higher to the working experience of designer and professional knowledge, and processes of research & development is subject to the professional skill restriction of slip-stick artist; (3) communication network of system is poor, and along with the remote control requirements of arrival people to design of cybertimes is larger, the single and intelligent difference of present system interface can not adapt to the demand in epoch very well; (4) flexibility of control circuit is poor, the intelligent and soft control of system that what this was serious hinder.
Summary of the invention
For above-mentioned Problems existing, the invention provides the flexible electric machine control system of a kind of intelligent reconstruction based on FPAA and FPGA, the flexibility that this system makes full use of the reconfigurability raising system of FPAA and FPGA technology realizes the intelligent of system further.
Technical scheme of the present invention is:
The flexible electric machine control system of intelligent reconstruction based on FPAA and FPGA, comprises host computer, FPGA algorithm computing unit, sensor unit, FPAA control module, buffer circuit, IPM module and motor.FPGA algorithm computing unit is used for the various algorithm of computing controller, configuration host computer communication and whole hardware circuit; Sensor unit is made up of various sensor and FPAA signal conditioning circuit, and for the duty of Real-Time Monitoring motor, the control for motor provides corresponding parameter; FPAA control module is for controlling motor; IPM driver module is for realizing inverter circuit and driving circuit to complete the driving of motor.
As a further improvement on the present invention, described FPGA algorithm computing unit adopts DSP core embedded mode to realize, and application DSP carries out computing to various complicated algorithm, for controller provides accurate parameters.
As a further improvement on the present invention, the communication interface of described host computer comprises serial interface and RJ45 Ethernet interface, and described serial interface switches RS323 and RS485 interface automatically, realizes the intelligent communication of serial ports.
As a further improvement on the present invention, described FPAA control module comprises PID circuit, PI circuit, PD circuit and P circuit, and described FPAA signal conditioning circuit and PID circuit adopt FPAA technology to realize.
Compared with prior art, the invention has the beneficial effects as follows: by making full use of the restructural feature of FPGA and FPAA technology, achieve the flexibility reconstruct that AC servo clicks control system, serial port circuit can identify the versatility reaching serial equipment automatically, and the design of RJ45 interface meets present network service demand.
Accompanying drawing explanation
Fig. 1 is the intelligent reconstruction flexible motor Control system architecture figure that the present invention is based on FPAA and FPGA;
Fig. 2 realizes FPAA signal conditioning circuit figure in AnadigmDesigner2;
Fig. 3 is the P circuit diagram realizing FPAA in AnadigmDesigner2;
Fig. 4 is the PI circuit diagram realizing FPAA in AnadigmDesigner2;
Fig. 5 is the PD circuit diagram realizing FPAA in AnadigmDesigner2;
Fig. 6 is the PID circuit diagram realizing FPAA in AnadigmDesigner2;
Fig. 7 is RS232 and RS485 automatic switch-over circuit figure.
In figure: 1, FPGA algorithm computing unit; 2, sensor unit; 3, FPAA control module.
Embodiment
Below in conjunction with accompanying drawing, the present invention is explained in further detail.
As shown in Fig. 1, the flexible electric machine control system of intelligent reconstruction that the present invention is based on FPAA and FPGA comprises host computer, FPGA algorithm computing unit 1, sensor unit 2, FPAA control module 3, buffer circuit, IPM module and motor, the configuration of the calculating of the various algorithm of FPGA algorithm unit primary responsibility controller, host computer communication and whole hardware circuit; Sensor unit is made up of various sensor and FPAA signal conditioning circuit, and the control that the Real-Time Monitoring of primary responsibility electric machine operation state is motor provides corresponding parameter; The control of described FPAA control module primary responsibility motor; Described IPM driver module is mainly used to realize inverter circuit, driving circuit to complete the driving of motor.
The parameter such as position, electric current, speed of various sensor motor in real time, sensor signal is nursed one's health by the signal of Signal-regulated kinase to sensor, and the Signal transmissions after conditioning is to FPGA algorithm arithmetic element.
FPGA algorithm unit carries out AD conversion to the signal that conditioning module is conditioned, the simulating signal of sensor is converted to digital signal and carries out Different Strategies computing use in order to DSP core; The computing strategy that DSP core provides according to host computer carries out corresponding computing for controller to the parameter that sensor transmits provides controling parameters; The abnormal signal that IPM module transmits by FPGA algorithm arithmetic element carries out processing and sending to alarm module, and signal is sent to host computer whistling warning simultaneously by alarm module; FPGA algorithm arithmetic element is communicated by serial ports or RJ45 interface with host computer, transmits the control strategy of host computer and the duty of the machine that upwards conducts electricity downwards, realizes the real-time control of motor and the Flexible Control of control system.
FPAA control module receives each good controling parameters of DSP kernel operation and according to the control strategy configuration control module circuit of host computer, the control data exported by control module inputs to PWM module, then be defeated by IPM module by high speed photo coupling module to control motor, simultaneously the more than enough layer closed-loop control system of combined sensor module.FPAA control module makes full use of FPAA technology on-line reconfiguration feature and carries out to circuit the control that rapid configuration meets different control form, and FPAA technology can realize P, PI, PD, PID Circnit Layout fast.
Further, described serial interface is the public interface of RS232 and RS485, and circuit has automatic identification function, and interface can well be connected with RS232 or RS485 master system.The parameter such as position, electric current, speed of various sensor motor in real time, sensor signal is nursed one's health by Signal-regulated kinase, and the Signal transmissions after conditioning is to FPGA algorithm computing module.
Be described FPAA technical design signal conditioning circuit for the AN221E04 of Anadigm company below, the physical circuit of signal condition as shown in Figure 2.Then first sensor signal pass through 2 rank low passes, high-pass filtering module to the further filtering of sensor signal by G module and low-pass filtering module, filtered signal amplifies to signal the demand meeting FPGA module processing signals by two-stage G gain module further, signal after amplification again by the further filtering of bandpass filter, by repeatedly to amplify and after filtering, sensor signal passes to FPGA algorithm arithmetic element.
FPGA algorithm arithmetic element carries out AD conversion to the signal that conditioning module is conditioned, the simulating signal of sensor is converted to digital signal and carries out Different Strategies computing use in order to DSP core; The computing strategy that DSP core provides according to host computer carries out corresponding computing to the parameter that sensor transmits and the parameter after computing is sent to FPAA controller; FPAA control module is according to the control strategy configuration control circuit union controling parameters of host computer, the parameters of PWM module to PWM ripple that the output signal of FPAA control module is input to fpga chip design controls, and the PWM ripple after process passes to IPM module through high speed photo coupling isolation.Fig. 3 to Fig. 6 provides P, PI, PD and PID control circuit realized in software AnadigmDesigner2, and deviser can control according to the difference of the demand of oneself by programming realization circuit.The concrete control strategy of motor is sent to FPGA by serial ports or RJ45 interface by host computer, and the operational factor of motor and state are uploaded to host computer by node simultaneously.When IPM module monitors is to abnormal signal, FPGA computing module carries out alarm to abnormal signal and uploads host computer reminding operating personnel, to guarantee the normal work of motor.
The configuration information of each chip of system stores and is in the EPROM chip that fpga chip is connected.The automatic switch-over circuit of serial ports as shown in Figure 7.
Claims (3)
1., based on the flexible electric machine control system of intelligent reconstruction of FPAA and FPGA, comprise host computer, FPGA algorithm computing unit (1), sensor unit (2), FPAA control module (3), buffer circuit, IPM module and motor; Described FPGA algorithm computing unit is used for the various algorithm of computing controller, configuration host computer communication and whole hardware circuit; Sensor unit is made up of various sensor and FPAA signal conditioning circuit, and for the duty of Real-Time Monitoring motor, the control for motor provides corresponding parameter; Described FPAA control module is for controlling motor; Described IPM module is for realizing inverter circuit and driving circuit to complete the driving of motor;
Described FPGA algorithm computing unit (1) carries out AD conversion to the signal that FPAA signal conditioning circuit is conditioned, the simulating signal of sensor is converted to digital signal and carries out Different Strategies computing use in order to DSP core; The computing strategy that DSP core provides according to host computer carries out corresponding computing for controller to the parameter that sensor transmits provides controling parameters; The abnormal signal that IPM module transmits by FPGA algorithm computing unit carries out processing and sending to alarm module, and signal is sent to host computer whistling warning simultaneously by alarm module; FPGA algorithm computing unit is communicated by serial interface or RJ45 Ethernet interface with host computer, transmits the control strategy of host computer and the duty of the machine that upwards conducts electricity downwards, realizes the real-time control of motor and the Flexible Control of control system;
Described FPAA control module (3) receives each good controling parameters of DSP kernel operation and according to the control strategy configuration control module circuit of host computer, the control data exported by control module circuit inputs to PWM module, then export to IPM module by high speed photo coupling module to control motor, combined sensor unit forms multilayer closed-loop control system simultaneously; FPAA control module makes full use of FPAA technology on-line reconfiguration feature and carries out to circuit the control that rapid configuration meets different control form, and FPAA technology can realize P, PI, PD, PID Circnit Layout fast;
The communication interface of described host computer comprises serial interface and RJ45 Ethernet interface, described serial interface switches RS232 and RS485 interface automatically, realize the intelligent communication of serial ports, described serial interface is the public interface of RS232 and RS485, circuit has automatic identification function, and interface can well be connected with RS232 or RS485 master system.
2. the flexible electric machine control system of a kind of intelligent reconstruction based on FPAA and FPGA according to claim 1, it is characterized in that: described FPGA algorithm computing unit (1) adopts DSP core embedded mode to realize, application DSP carries out computing to various complicated algorithm, for controller provides accurate parameters.
3. the flexible electric machine control system of a kind of intelligent reconstruction based on FPAA and FPGA according to claim 1 and 2, it is characterized in that: described FPAA control module (3) comprises PID circuit, PI circuit, PD circuit and P circuit, described FPAA signal conditioning circuit and PID circuit adopt FPAA technology to realize.
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| CN103744356B (en) * | 2014-01-17 | 2016-08-17 | 重庆大学 | A kind of lathe intelligent controller based on DSP/FPGA dynamic and configurable and control method |
| CN103914042B (en) * | 2014-03-21 | 2018-06-12 | 固高科技(深圳)有限公司 | Intelligent plant and its flexibly direct writing unit, flexible intelligent equipment |
| CN107168105B (en) * | 2017-06-29 | 2020-09-01 | 徐州医科大学 | Virtual surgery hybrid control system and verification method thereof |
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