CN108832849A - A kind of electromechanical coupling system control method - Google Patents
A kind of electromechanical coupling system control method Download PDFInfo
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- CN108832849A CN108832849A CN201810620679.2A CN201810620679A CN108832849A CN 108832849 A CN108832849 A CN 108832849A CN 201810620679 A CN201810620679 A CN 201810620679A CN 108832849 A CN108832849 A CN 108832849A
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- signal
- pwm
- single tube
- dsp
- fpga
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Multiple Motors (AREA)
Abstract
A kind of electromechanical coupling system control method of the present invention, controller controls electromechanical actuator by DSP+FPGA dual chip together, and DSP exports pwm control signal, is input to FPGA, all single tube pwm signals are converted into the PWM output signal of the multichannel upper and lower bridge arm with complementary dead zone, control servo actuator；The present invention is by being extended to 6 road PWM output by FPGA for the 3 road PWM output of DSP, realize 3 road PWM output 3 phase full-bridge inverters of control, 3 road pwm control signals are saved, so that 1 DSP controls more 3 phase full-bridges or H bridge inverter simultaneously, and then drive more electromechanical actuator movements.
Description
Technical field
The invention belongs to servo mechanism field more particularly to the control technologies of multi-axis electro-mechanical servo mechanism.
Background technique
With the maturation and progress of the technologies such as forceful electric power technology, control technology and rare earth permanent-magnetic material, promotes electromechanics and watch
The rapid development of this industry is taken, one of the important development direction of space flight servo techniques is now had become.Nowadays, electromechanical servo
Using more and more extensive, user requires its integrated level also higher and higher.
Existing electromechanical servo control controls servo actuator, DSP collection using processor (abbreviation DSP) dead zone generation method
At the dead zone variable duration impulse system (abbreviation PWM) generation module, and the PWM by the output of PWM output port with complementary dead zone
Signal, the dead zone the PWM generation module resource and PWM output port quantity of DSP is limited, is only capable of 12 tunnels of output at present with complementary dead
The PWM system signal in area, a DSP are only capable of two electromechanical actuators of driving and move, and limit single DSP in multi-axis electro-mechanical servo system
Application in system, and 1 motor of control needs 6 road pwm signals, specially 3 pairs of bands in space vector modulation algorithm (SVPWM)
The pwm signal in complementary dead zone；It controls 4 motor operations and needs 24 road pwm signals, the specially 12 couples PWM with complementary dead zone
Signal, the prior art cannot achieve.
Summary of the invention
(1) the technical issues of solving
For solving the problems, such as that pwm signal exports inadequate resource in existing DSP, the PWM that DSP is exported is carried out using FPGA
The DSP single tube pwm signal inputted is converted into the PWM output signal of the multichannel upper and lower bridge arm with complementary dead zone to power by extension
Driving circuit drives more electromechanical actuator movements.
(2) technical solution
A kind of electromechanical coupling system control method of the present invention, controller control electromechanical work by DSP+FPGA dual chip together
Dynamic device, DSP export pwm control signal, are input to FPGA, and all single tube pwm signals are converted into the multichannel with complementary dead zone
The PWM output signal of lower bridge arm controls servo actuator.
Further, the single tube pwm signal is converted into the PWM output signal of the upper and lower bridge arm with complementary dead zone, specifically
Process is as follows：
A1：Hardware delay counter and register is arranged in fpga chip, configures dead time, and to single tube pwm signal into
Line delay forms corresponding single tube PWM time delayed signal；
A2：Logic and operation and logic are carried out to single tube pwm signal and corresponding single tube PWM time delayed signal using FPGA
Or non-operation forms the PWM output signal with complementary dead zone.
Further, A1 process is as follows：
A11：The rising edge or failing edge of acquisition single tube pwm signal in real time；
A12：After detecting the rising edge or failing edge of single tube pwm signal, it is delayed to rising edge and failing edge, it is raw
At corresponding single tube PWM time delayed signal；
A13：Logic and operation is carried out to single tube pwm signal and corresponding single tube PWM time delayed signal and generates upper bridge arm letter
Number；
A14：Logic or non-operation is carried out to single tube pwm signal and corresponding single tube PWM time delayed signal and generates lower bridge arm
Signal.
(3) beneficial effects of the present invention：
The present invention realizes 3 road PWM output control by the way that the 3 road PWM output of DSP is extended to 6 road PWM output by FPGA
3 phase full-bridge inverters are made, 3 road pwm control signals are saved, so that 1 DSP controls more 3 phase full-bridges or H bridge inverter simultaneously,
And then drive more electromechanical actuator movements.
Detailed description of the invention
Fig. 1 multi-axis electro-mechanical servo system control solution principle block diagram；
Fig. 2 FPGA hardware circuit diagram of the present invention；
Fig. 3 pwm signal dead zone schematic diagram of the present invention；
Fig. 4 pwm signal dead zone schematic diagram of the present invention；
Fig. 5 generation method schematic diagram in pwm signal dead zone of the present invention；
Fig. 6 PWM time delayed signal generating principle figure of the present invention；
Fig. 7 FPGA control logic and dead zone export verification the verifying results figure.
Specific embodiment
In addition to embodiment described below, the present invention can also have other embodiments or be implemented in different ways.Therefore,
It should be known that the invention is not limited to it is described in the following description or in the accompanying drawings shown in component structure it is detailed
Situation.
A kind of electromechanical coupling system control method of the present invention, controller control electromechanical work by DSP+FPGA dual chip together
Dynamic device, DSP export pwm control signal, are input to FPGA, and all single tube pwm signals are converted into the multichannel with complementary dead zone
The PWM output signal of lower bridge arm controls servo actuator.
The single tube pwm signal is converted into the PWM output signal of the upper and lower bridge arm with complementary dead zone, and detailed process is as follows：
A1：Hardware delay counter and register is arranged in fpga chip, configures dead time, and to single tube pwm signal into
Line delay forms corresponding single tube PWM time delayed signal；
A2：Logic and operation and logic are carried out to single tube pwm signal and corresponding single tube PWM time delayed signal using FPGA
Or non-operation forms the PWM output signal with complementary dead zone.
A1 process is as follows：
A11：The rising edge or failing edge of acquisition single tube pwm signal in real time；
A12：After detecting the rising edge or failing edge of single tube pwm signal, it is delayed to rising edge and failing edge, it is raw
At corresponding single tube PWM time delayed signal；
A13：Logic and operation is carried out to single tube pwm signal and corresponding single tube PWM time delayed signal and generates upper bridge arm letter
Number；
A14：Logic or non-operation is carried out to single tube pwm signal and corresponding single tube PWM time delayed signal and generates lower bridge arm
Signal.
As shown in Figure 1, being illustrated using the four axis electromechanical servo systems based on space vector modulation algorithm as typical case.
Four axis electromechanical servo systems of one kind include DSP, are extended to the PWM output of DSP, 4 motors are controlled after extension
Operation.
Such as Fig. 2, shown in Fig. 3, a kind of circuit based on fpga chip, DSP-U1CMD is to DSP-W4CMD signal in UF1H
For the pwm control signal of DSP output, in UF1C and UF1D DSP_Uu1 to DSP_Wd4 be 12 pairs of FPGA output, 24 road bands it is mutual
The pwm signal in dead zone is mended, PWM_OE1 to PWM_OE4 is 4 driver enable signals；UF2 is FPGA configuration circuit, due to
Fpga chip, which is based on SRAM technique, can not store program without internal FLASH, need to extend out the FPGA configuration electricity with FLASH
Road is used for FPGA electrification reset and loading procedure.
As shown in Figure 4, Figure 5, by taking the motor U phase of first via electromechanical actuator as an example, DSP-U1CMD is what DSP was issued for institute
Hardware delay counter and register is arranged first with fpga chip in programmable pwm signal, for configuring dead time, and
It is delayed to DSP-U1CMD signal, forms DSP-U1CMD ' signal, then using FPGA to DSP-U1CMD signal and DSP-
U1CMD ' signal carries out logic and operation and logic or non-operation, is respectively formed such as the complementary dead zone of the band of DSP_Uu1 and DSP_Ud1
PWM output signal, signal dutyfactor and DSP input signal duty ratio are almost the same.
As shown in fig. 6, specific flow chart：
(1) acquires the rising edge or failing edge of DSP-U1CMD in real time；
(2) is delayed after detecting the rising edge or failing edge of DSP-U1CMD to rising edge and failing edge, generates
Signal DSP-U1CMD ' after delay；
(3) carries out logic and operation to DSP-U1CMD signal and DSP-U1CMD ' signal and generates upper bridge arm signal DSP_
Uu1；
(4) carries out logic or non-operation to DSP-U1CMD signal and DSP-U1CMD ' signal and generates lower bridge arm signal DSP_
Ud1。
As shown in fig. 7, FPGA control logic and dead zone export verification the verifying results figure, the present invention is based on modelsim by establishing
Simulation Test Environment, with verify FPGA control logic and dead zone output correctness and reliability.The present invention is by writing
Testbench script file generates the PWM input stimulus of simulation, the excitation of generation is added to tested module and observes it
Output response compares output result and the desired value of acquisition, the integrality of authentication module function.The PWM input stimulus of simulation
A possibility that covering is whole generate for the function logic when boundary value, particular value, dead zone and carry out comprehensive verifying,
It ensure that the reliability of method.
The present invention is explained in detail above in conjunction with drawings and examples, but the present invention is not limited to above-mentioned implementations
Example, within the knowledge of a person skilled in the art, can also do without departing from the purpose of the present invention
Various change out, the content that is not described in detail can use the prior art in the present invention.
Claims (3)
1. a kind of electromechanical coupling system control method, which is characterized in that controller controls machine by DSP+FPGA dual chip together
Motor-driven cylinder, DSP export pwm control signal, are input to FPGA, and all single tube pwm signals are converted into the more of complementary dead zone
The PWM output signal of road lower bridge arm controls servo actuator.
2. electromechanical coupling system control method as described in claim 1, which is characterized in that the single tube pwm signal is converted into
The PWM output signal of upper and lower bridge arm with complementary dead zone, detailed process are as follows：
A1：Hardware delay counter and register is arranged in fpga chip, configures dead time, and prolong to single tube pwm signal
When, form corresponding single tube PWM time delayed signal；
A2：Logic and operation and logic or non-are carried out to single tube pwm signal and corresponding single tube PWM time delayed signal using FPGA
Operation forms the PWM output signal with complementary dead zone.
3. electromechanical coupling system control method as described in claim 1, which is characterized in that A1 process is as follows：
A11：The rising edge or failing edge of acquisition single tube pwm signal in real time；
A12：It after detecting the rising edge or failing edge of single tube pwm signal, is delayed to rising edge and failing edge, generates phase
Corresponding single tube PWM time delayed signal；
A13：Logic and operation is carried out to single tube pwm signal and corresponding single tube PWM time delayed signal and generates upper bridge arm signal；
A14：Logic or non-operation is carried out to single tube pwm signal and corresponding single tube PWM time delayed signal and generates lower bridge arm signal.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112019129A (en) * | 2019-05-31 | 2020-12-01 | 蜂巢电驱动科技河北有限公司 | Drive protection method, bridge type drive system and motor controller |
| CN113179063A (en) * | 2021-04-27 | 2021-07-27 | 天津工业大学 | Permanent magnet synchronous motor model based on multi-core parallel computation and prediction control method thereof |
| CN114051691A (en) * | 2020-10-28 | 2022-02-15 | 深圳市大疆创新科技有限公司 | Motor control method and device and movable platform |
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| CN204349943U (en) * | 2015-01-28 | 2015-05-20 | 西安科技大学 | A kind of PWM dead band modulate circuit |
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| CN107748519A (en) * | 2017-11-02 | 2018-03-02 | 中国航天科技集团公司烽火机械厂 | A kind of driving control system and its controller used and control method |
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| CN103701315A (en) * | 2013-12-12 | 2014-04-02 | 西安理工大学 | CPLD (complex programmable logic device)-based PWM (pulse width modulation) dead zone error detection and protection method |
| CN103701315B (en) * | 2013-12-12 | 2016-10-05 | 西安理工大学 | PWM ripple dead band mistake the method implementing protection is detected based on CPLD |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112019129A (en) * | 2019-05-31 | 2020-12-01 | 蜂巢电驱动科技河北有限公司 | Drive protection method, bridge type drive system and motor controller |
| CN112019129B (en) * | 2019-05-31 | 2022-04-01 | 蜂巢传动***(江苏)有限公司保定研发分公司 | Drive protection method, bridge type drive system and motor controller |
| CN114051691A (en) * | 2020-10-28 | 2022-02-15 | 深圳市大疆创新科技有限公司 | Motor control method and device and movable platform |
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| CN113179063A (en) * | 2021-04-27 | 2021-07-27 | 天津工业大学 | Permanent magnet synchronous motor model based on multi-core parallel computation and prediction control method thereof |
| CN113179063B (en) * | 2021-04-27 | 2023-02-10 | 天津工业大学 | Permanent magnet synchronous motor model based on multi-core parallel computation and prediction control method thereof |
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