CN107748519A - A kind of driving control system and its controller used and control method - Google Patents
A kind of driving control system and its controller used and control method Download PDFInfo
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- CN107748519A CN107748519A CN201711065131.8A CN201711065131A CN107748519A CN 107748519 A CN107748519 A CN 107748519A CN 201711065131 A CN201711065131 A CN 201711065131A CN 107748519 A CN107748519 A CN 107748519A
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- bridge pwm
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Direct Current Motors (AREA)
Abstract
The invention discloses a kind of controller to include DSP and CPLD；The DSP, for receiving N roads control signal, all upper bridge pwm signals of N roads control signal are calculated, and all upper bridge pwm signals are sent to the CPLD, wherein, N is the positive integer no more than 6；The CPLD, all lower bridge pwm signals are obtained for receiving all upper bridge pwm signals, and according to all upper bridge pwm signals, all upper bridge pwm signals and all lower bridge pwm signals are exported to device to be controlled.As can be seen here, controller provided in an embodiment of the present invention, the calculating of all upper bridge pwm signals are completed by DSP, and the extension of PWM mouths is completed by CPLD, realize electromechanical actuator more than a kind of single tunnel of DSP drive controls 3.The invention also discloses a kind of driving control system and a kind of control method, above-mentioned technique effect can be equally realized.
Description
Technical field
The present invention relates to electromechanical control field, more specifically to a kind of driving control system and its control used
Device and control method.
Background technology
With aircraft performance requirement continuous improvement, to the volume of Electromechanical Actuators, weight, precision, bearing capacity,
Mobility, anti-interference, rapidity etc. propose higher requirement, particularly on the weaponrys such as guided missile, its volume with again
Amount is to influence the vital index of its range and precision, at present, controls 1 tunnel or 2 tunnels electromechanical using 1 main control chip mostly
Actuator, the outside that main control chip is not primarily limited to using the reason for 1 main control chip control multichannel electromechanical actuator are connect
Mouth quantity and the difficulty for realizing complicated algorithm, this single channel main control chip control the Electromechanical Actuators on 1 tunnel or 2 tunnels more in demand
On the weaponry of road electromechanical actuator, volume can not increasingly meet to require with weight, it is therefore desirable to the hardware more simplified
Circuit design and reliable control mode.
DSP turns into the optimal master control of motor with its powerful digital signal processing capability and abundant On-Chip peripheral resource
Chip, system frequency reach 150MHz, integrate the peripheral hardwares such as PWM, A/D converter, orthogonal coding unit QEP on piece, greatly facilitate
Serve Motor Control, the at most configurable 18 road PWM of monolithic DSP, single channel AC permanent magnet synchronous motor need 6 road PWM, therefore single
The at most controllable 3 road AC permanent magnet synchronous motors of piece DSP.On the weaponrys such as guided missile, it usually needs 4 road steering wheels, if with two
Piece DSP, not only adds the cost of drive control device, and adds the volume of drive control device.
Therefore, how to realize that electromechanical actuator more than a kind of single tunnel of DSP drive controls 3 is those skilled in the art's needs
Solve the problems, such as.
The content of the invention
It is an object of the invention to provide a kind of drive control device and its controller used and control method, one is realized
The electromechanical actuator more than single tunnel of DSP drive controls 3 of kind.
To achieve the above object, the embodiments of the invention provide a kind of controller, including DSP and CPLD；
The DSP, for receiving N roads control signal, all upper bridge pwm signals of N roads control signal are calculated,
And send all upper bridge pwm signals to the CPLD, wherein, N is the positive integer no more than 6；
The CPLD, institute is obtained for receiving all upper bridge pwm signals, and according to all upper bridge pwm signals
There is lower bridge pwm signal, all upper bridge pwm signals and all lower bridge pwm signals are exported to device to be controlled.
Wherein, if N is 4, the DSP, for receiving 4 tunnel control signals, it is calculated the 12 of 4 tunnel control signal
Lu Shangqiao pwm signals, and bridge pwm signal on 12 tunnel is sent to the CPLD；
The CPLD, 12 are obtained for receiving bridge pwm signal on 12 tunnel, and according to bridge pwm signal on 12 tunnel
Bridge pwm signal under road, bridge pwm signal under bridge pwm signal on 12 tunnel and 12 tunnel is exported to device to be controlled.
Wherein, the device to be controlled includes electromechanical actuator.
To achieve the above object, the embodiments of the invention provide a kind of control method, including：
DSP receives N roads control signal, and all upper bridge pwm signals of N roads control signal are calculated, and by described in
All upper bridge pwm signals are sent to the CPLD, wherein, N is the positive integer no more than 6；
CPLD receives all upper bridge pwm signals, and obtains all lower bridge PWM according to all upper bridge pwm signals
Signal, all upper bridge pwm signals and all lower bridge pwm signals are exported to device to be controlled.
Wherein, if N is 4, the DSP drive controls method includes：
DSP receives 4 tunnel control signals, and bridge pwm signal on 12 tunnels of 4 tunnel control signal is calculated, and by described in
Bridge pwm signal is sent to the CPLD on 12 tunnels；
CPLD receives bridge pwm signal on 12 tunnel, and obtains bridge PWM under 12 tunnels according to bridge pwm signal on 12 tunnel
Signal, bridge pwm signal under bridge pwm signal on 12 tunnel and 12 tunnel is exported to device to be controlled.
Wherein, all upper bridge pwm signals that N roads control signal is calculated, and by all upper bridge PWM
Signal is sent to the CPLD, including：
All upper bridge PWM letters of N roads control signal are calculated by position ring, speed ring, the ring PID of electric current loop three
Number dutycycle, and all upper bridge pwm signals are sent to the CPLD.
Wherein, all lower bridge pwm signals are obtained according to all upper bridge pwm signals, including：
All upper bridge pwm signals reversely and are added into the dead band of the scheduled time, form all lower bridge pwm signals.
To achieve the above object, the embodiments of the invention provide a kind of driving control system, including controller and to be controlled
Device；
The controller, for realizing such as the step of above-mentioned control method.
By above scheme, a kind of controller provided in an embodiment of the present invention includes DSP and CPLD；The DSP, use
In receiving N roads control signal, all upper bridge pwm signals of N roads control signal are calculated, and by all upper bridges
Pwm signal is sent to the CPLD, wherein, N is the positive integer no more than 6；The CPLD, for receiving all upper bridges
Pwm signal, and all lower bridge pwm signals are obtained according to all upper bridge pwm signals, by all upper bridge pwm signals and
All lower bridge pwm signals are exported to device to be controlled.
As can be seen here, controller provided in an embodiment of the present invention, the calculating of all upper bridge pwm signals are completed by DSP, PWM
The extension of mouth is completed by CPLD, had so both been given full play to the powerful digital signal processing capabilities of DSP, and had been realized the fortune of complicated algorithm
Calculate, it is more to take full advantage of CPLD I/O mouths again, and speed is fast, efficiency high, the advantages that can realizing quick protection, makes whole system
Have the characteristics that low small volume, cost, fast response time, control accuracy height, reliability height, strong antijamming capability, integrated level are high,
Realize electromechanical actuator more than a kind of single tunnel of DSP drive controls 3.The invention also discloses a kind of driving control system and one
Kind control method, can equally realize above-mentioned technique effect.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is a kind of flow chart of control method disclosed in the embodiment of the present invention；
Fig. 2 is the flow chart of another control method disclosed in the embodiment of the present invention；
Fig. 3 is the flow chart of another control method disclosed in the embodiment of the present invention；
Fig. 4 is a kind of structure chart of controller disclosed in the embodiment of the present invention；
Fig. 5 is a kind of structure chart of driving control system disclosed in the embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
The embodiment of the invention discloses a kind of control method, realizes electromechanical work more than a kind of single tunnel of DSP drive controls 3
Dynamic device.
Referring to Fig. 1, a kind of flow chart of control method disclosed in the embodiment of the present invention, as shown in figure 1, including：
S101：DSP receives N roads control signal, and all upper bridge pwm signals of N roads control signal are calculated, and will
All upper bridge pwm signals are sent to the CPLD, wherein, N is the positive integer no more than 6；
In specific implementation, it is required for being calculated bridge pwm signal on 3 tunnels in DSP per road control signal, and will be all
All upper bridge pwm signals that control signal calculates, i.e., bridge pwm signal is sent to the CPLD on 3N roads.
Because DSP only has 18 I/O ports, inputted while at most carrying 6 tunnel control signal, i.e. N is no more than 6 just
Integer.
S102：CPLD receives all upper bridge pwm signals, and according to all upper bridge pwm signals obtain it is all under
Bridge pwm signal, all upper bridge pwm signals and all lower bridge pwm signals are exported to device to be controlled.
In specific implementation, because CPLD I/O mouths are more, institute can be obtained according to bridge pwm signal on all in CPLD
There is lower bridge pwm signal, all upper bridge pwm signals and all lower bridge pwm signals are exported to device to be controlled.
Control method provided in an embodiment of the present invention, the calculating of all upper bridge pwm signals are completed by DSP, the extension of PWM mouths
Completed by CPLD, so both given full play to the powerful digital signal processing capabilities of DSP, and realized the computing of complicated algorithm, fill again
Point it make use of CPLD I/O mouths more, speed is fast, efficiency high, the advantages that can realizing quick protection, whole system is had volume
It is small, cost is low, fast response time, control accuracy height, reliability height, strong antijamming capability, high integrated level the features such as, realize one
The electromechanical actuator more than single tunnel of DSP drive controls 3 of kind.
It is provided in an embodiment of the present invention another referring to Fig. 2 if N is 4 the embodiment of the invention discloses a kind of control method
A kind of flow chart of control method, as shown in Fig. 2 including：
S201：DSP receives 4 tunnel control signals, and bridge pwm signal on 12 tunnels of 4 tunnel control signal is calculated, and will
Bridge pwm signal is sent to the CPLD on 12 tunnel；
S202：CPLD receives bridge pwm signal on 12 tunnel, and is obtained according to bridge pwm signal on 12 tunnel under 12 tunnels
Bridge pwm signal, bridge pwm signal under bridge pwm signal on 12 tunnel and 12 tunnel is exported to device to be controlled.
In specific implementation, it is required for being calculated bridge pwm signal on 3 tunnels in DSP per road control signal, and will be all
Bridge pwm signal is sent to the CPLD on 12 tunnels that control signal calculates.In CPLD 12 are obtained according to bridge pwm signal on 12
Bridge pwm signal under road, bridge pwm signal under bridge pwm signal on 12 tunnel and 12 tunnel is exported to device to be controlled.
The embodiment of the invention discloses a kind of control method, and relative to a upper embodiment, the present embodiment is made to technical scheme
Further instruction and optimization.Specifically：
Referring to Fig. 3, the flow chart of another control method provided in an embodiment of the present invention, as shown in figure 3, including：
S301：DSP receives 4 tunnel control signals, and the N is calculated by position ring, speed ring, the ring PID of electric current loop three
The dutycycle of all upper bridge pwm signals of road control signal, and all upper bridge pwm signals are sent to the CPLD；
In specific implementation, it is required for per road control signal in DSP by position ring, speed ring, the ring PID of electric current loop three
Calculate, obtain the dutycycle of bridge pwm signal on 3 tunnels, and all upper bridge pwm signals that all control signals are calculated send to
The CPLD.
S302：CPLD receives bridge pwm signal on 12 tunnel, and all upper bridge pwm signals reversely and are added pre-
The dead band fixed time, all lower bridge pwm signals are formed, bridge pwm signal under bridge pwm signal on 12 tunnel and 12 tunnel is defeated
Go out to device to be controlled.
In specific implementation, by all upper bridge pwm signals reversely and add the dead band of the scheduled time, for example, on will be all
Bridge pwm signal is reverse and adds 3 μ s dead band, it is of course also possible to the dead band of other preset times is added according to actual conditions,
This is not especially limited.
A kind of controller provided in an embodiment of the present invention is introduced below, a kind of controller described below with above
A kind of control method of description can be with cross-referenced.
Referring to Fig. 4, a kind of structure chart of controller provided in an embodiment of the present invention, as shown in figure 4, including DSP401 and
CPLD402；
The DSP401, for receiving N roads control signal, all upper bridge PWM letters of N roads control signal are calculated
Number, and all upper bridge pwm signals are sent to the CPLD, wherein, N is the positive integer no more than 6；
DSP can select the TMS320F28335PGFA of TI companies, naturally it is also possible to have identity function from other
Chip, it is not especially limited herein.The chip is a TMS320C28X series Floating-point DSP control chip, and is integrated with main
Motor control peripheral unit, including 6 DMA channels, 12 16 passage ADC, support 18 road PWM outputs.These peripheral hardwares are not only
So that system design peripheral circuit is simple and convenient, and reduces the difficulty of the software programming of modular program, control can be improved
The integrated and reliability of system processed.4 road position signallings and 8 road current signals are gathered by the ADC interface of 12 passages, 4 routes
Rotation becomes 12 parallel-by-bit motor position signals of decoding chip output by the external data interface acquisition time of 12 passages, 12 road PWM
Signal is exported by integrated peripheral hardware special DSP, this hardware circuit design mode, takes full advantage of DSP Resources on Chip, and profit
With the fireballing advantage of DSP operation, make the data operation and SVPWM largely containing addition multiplication such as electric current and voltage coordinate conversion
Realization Deng complicated algorithm can reliably be run, and both simplify hardware circuit design, reduce cost, reduce volume, again
It ensure that the reliability of control algolithm.
The CPLD402, obtained for receiving all upper bridge pwm signals, and according to all upper bridge pwm signals
All lower bridge pwm signals, all upper bridge pwm signals and all lower bridge pwm signals are exported to device to be controlled.
CPLD can select the LC4256V-75T144C of LATTIC companies, naturally it is also possible to have similar work(from other
The chip of energy, is not especially limited herein.The chip is mainly completed to be extended pwm signal, handles over-current signal, works as detection
When having over-current signal into main circuit, PWM output signal is blocked, protection is made to system.
Controller provided in an embodiment of the present invention, the calculating of all upper bridge pwm signals are completed by DSP, the extensions of PWM mouths by
CPLD is completed, and had so both been given full play to the powerful digital signal processing capabilities of DSP, and had been realized the computing of complicated algorithm, and fully
It make use of CPLD I/O mouths more, speed is fast, efficiency high, the advantages that can realizing quick protection, whole system is had volume
It is small, cost is low, fast response time, control accuracy height, reliability height, strong antijamming capability, high integrated level the features such as, realize one
The electromechanical actuator more than single tunnel of DSP drive controls 3 of kind.
On the basis of above-described embodiment, preferably, if N is 4, the DSP, for receiving the control of 4 tunnels
Signal processed, is calculated bridge pwm signal on 12 tunnels of 4 tunnel control signal, and by bridge pwm signal on 12 tunnel send to
The CPLD；
The CPLD, 12 are obtained for receiving bridge pwm signal on 12 tunnel, and according to bridge pwm signal on 12 tunnel
Bridge pwm signal under road, bridge pwm signal under bridge pwm signal on 12 tunnel and 12 tunnel is exported to device to be controlled.
Present invention also provides a kind of driving control system, referring to Fig. 5, a kind of drive control provided in an embodiment of the present invention
The structure chart of system, as shown in figure 5, including controller 501 and device to be controlled 502；
The controller 501, for realize as above-mentioned any embodiment provide control method the step of.
Driving control system provided in an embodiment of the present invention, the calculating of all upper bridge pwm signals are completed by DSP, PWM mouths
Extension is completed by CPLD, had so both been given full play to the powerful digital signal processing capabilities of DSP, and had been realized the computing of complicated algorithm,
It is more that CPLD I/O mouths are taken full advantage of again, and speed is fast, efficiency high, the advantages that can realizing quick protection, has whole system
Small volume, cost are low, fast response time, control accuracy height, reliability height, strong antijamming capability, high integrated level the features such as, realize
A kind of electromechanical actuator more than single tunnel of DSP drive controls 3.
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.
The foregoing description of the disclosed embodiments, professional and technical personnel in the field are enable to realize or using the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
It should also be noted that, in this manual, such as first and second or the like relational terms be used merely to by
One entity or operation make a distinction with another entity or operation, and not necessarily require or imply these entities or operation
Between any this actual relation or order be present.Moreover, term " comprising ", "comprising" or its any other variant meaning
Covering including for nonexcludability, so that process, method, article or equipment including a series of elements not only include that
A little key elements, but also the other element including being not expressly set out, or also include for this process, method, article or
The intrinsic key element of equipment.In the absence of more restrictions, the key element limited by sentence "including a ...", is not arranged
Except other identical element in the process including the key element, method, article or equipment being also present.
Claims (8)
1. a kind of controller, it is characterised in that including DSP and CPLD；
The DSP, for receiving N roads control signal, all upper bridge pwm signals of N roads control signal are calculated, and will
All upper bridge pwm signals are sent to the CPLD, wherein, N is the positive integer no more than 6；
The CPLD, for receiving all upper bridge pwm signals, and according to all upper bridge pwm signals obtain it is all under
Bridge pwm signal, all upper bridge pwm signals and all lower bridge pwm signals are exported to device to be controlled.
2. controller according to claim 1, it is characterised in that if N is 4, the DSP, for receiving 4 tunnels control letter
Number, bridge pwm signal on 12 tunnels of 4 tunnel control signal is calculated, and bridge pwm signal on 12 tunnel is sent to described
CPLD；
The CPLD, obtained for receiving bridge pwm signal on 12 tunnel, and according to bridge pwm signal on 12 tunnel under 12 tunnels
Bridge pwm signal, bridge pwm signal under bridge pwm signal on 12 tunnel and 12 tunnel is exported to device to be controlled.
3. controller according to claim 1, it is characterised in that the device to be controlled includes electromechanical actuator.
A kind of 4. control method, it is characterised in that including：
DSP receives N roads control signal, and all upper bridge pwm signals of N roads control signal are calculated, and will be described all
Upper bridge pwm signal is sent to the CPLD, wherein, N is the positive integer no more than 6；
CPLD receives all upper bridge pwm signals, and obtains all lower bridge pwm signals according to all upper bridge pwm signals,
All upper bridge pwm signals and all lower bridge pwm signals are exported to device to be controlled.
5. control method according to claim 4, it is characterised in that if N is 4, the DSP drive controls method bag
Include：
DSP receives 4 tunnel control signals, is calculated bridge pwm signal on 12 tunnels of 4 tunnel control signal, and by 12 tunnel
Upper bridge pwm signal is sent to the CPLD；
CPLD receives bridge pwm signal on 12 tunnel, and obtains bridge pwm signal under 12 tunnels according to bridge pwm signal on 12 tunnel,
Bridge pwm signal under bridge pwm signal on 12 tunnel and 12 tunnel is exported to device to be controlled.
6. control method according to claim 4, it is characterised in that the institute that N roads control signal is calculated
There is upper bridge pwm signal, and all upper bridge pwm signals are sent to the CPLD, including：
All upper bridge pwm signals of N roads control signal are calculated by position ring, speed ring, the ring PID of electric current loop three
Dutycycle, and all upper bridge pwm signals are sent to the CPLD.
7. control method according to claim 4, it is characterised in that owned according to all upper bridge pwm signals
Lower bridge pwm signal, including：
All upper bridge pwm signals reversely and are added into the dead band of the scheduled time, form all lower bridge pwm signals.
8. a kind of driving control system, it is characterised in that including controller and device to be controlled；
The controller, for realizing as described in any one of claim 4 to 7 the step of control method.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711065131.8A CN107748519A (en) | 2017-11-02 | 2017-11-02 | A kind of driving control system and its controller used and control method |
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| CN201711065131.8A CN107748519A (en) | 2017-11-02 | 2017-11-02 | A kind of driving control system and its controller used and control method |
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| CN109669370A (en) * | 2018-11-29 | 2019-04-23 | 中国科学院近代物理研究所 | A kind of signal processor |
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