摘要
针对数字伺服控制算法及片上系统集成技术的问题,依据矢量控制和伺服系统设计理论,建立了磁场定向矢量控制器、速度控制器和位置控制器等高性能IP核模型,开发了坐标变换、速度测量、SVPWM、反时限保护、PID调节器、电子齿轮、前馈控制及滤波器等关键算法模块,详细规划了各模块的调度时序。在此基础上,进一步集成了RISC微处理器模块,并采用时分复用设计方法,在FPGA工艺平台中最终实现了多轴伺服控制器片上系统。实验结果表明,该芯片能够接收脉冲命令、模拟命令或数字命令,既可以工作在位置控制模式,也可以配置为速度伺服或力矩驱动模式,每个轴的运行是相对独立的,并且控制参数在线可编程。
The digital control algorithms and design techniques of multi-axis servo system-on-chip integration are investigated in this paper. On the basis of vector control and servo system design principle, high efficiency IP cores of FOC and servo controllers were created, including coordinate transformation, velocity measurement, SVPWM, inverse-time protection, P1D regulator, electronic gear, feed-forward controller, filters, etc. In addition, the timing controller was developed via reasonable scheduling of these algorithm cells. According to the idea of time-division muhiplex, the high-powered SoC of multi-axis servo controller was finally implemented on an advanced FPGA platform, incorporating with various IP modules as well as a RISC microprocessor. Experimental results show that the designed single-chip system can receive analog or digital command, or pulse-type instruction, with configuration of different operation mode for torque, speed or position control ; furthermore, each axis is independent of the others, and all parameters are programmable on line.
出处
《电机与控制学报》
EI
CSCD
北大核心
2009年第4期553-558,共6页
Electric Machines and Control
关键词
多轴伺服控制
矢量控制
时分复用
片上系统
multi-axis servo control, vector control, time-division multiplex, system-on-chip
