基于SOPC技术的无刷直流电机运动控制器研究
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摘要
随着微电子、电力电子、信号检测与处理技术、自动控制理论和计算机应用技术的迅猛发展,运动控制系统的应用广度和深度不断扩大,在现代化的生产和生活中起着举足轻重的作用。针对运动控制系统的高实时性、强稳定性的控制要求,开发高精度、高效率、开放式和网络化的运动控制器具有十分重要的意义。本文以无刷直流电机(BLDCM, Brushless Direct Current Motor)为控制对象,采用可复用的IP技术,以单芯片大容量现场可编程门阵列(FPGA)为核心控制器,设计了基于可编程片上系统(SOPC, System on Programmable Chip)技术的运动控制器。
文中首先综述了国内外运动控制器的发展现状和趋势,然后比较了各种运动控制器设计方案的优缺点,阐述了无刷直流电机的控制方式和基本数学模型。
然后在比较了传统运动控制器优缺点的基础上,提出了基于SOPC技术的运动控制器的设计方案和主要硬件电路实现方式,并且在转速和电流双闭环的控制策略下,运用IP(Intellectual Property)复用的技术在单芯片FPGA上嵌入处理器软核MicroBlaze和以IBM CoreConnect总线互连的片上外设,实现了由多个IP核构成的系统,其中用户自定义IP是设计中的重点,主要包括无刷直流电机换向控制逻辑、PWM波发生电路、位置信号滤波和测速模块。
其次,详细阐述了基于SOPC技术的软件驱动开发和软件设计,提出了无刷直流电机的软件设计的整体控制方案,并对软件设计中每一个软件驱动模块进行了详细的说明。
最后在上述设计的基础上,进行了运动控制系统的实验调试。相关运行结果证明了采用SOPC技术实现无刷直流电机运动控制器的可行性和正确性。
本文所采用的SOPC技术解决方案缩短了开发周期,减小了器件数目,提高了系统可靠性,使得系统易升级、易移植,具有一定的创新性。
With the rapid development of microelectronics, power electronics, signal detection and processing technology, automatic control theory and computer application technology , the motion control system is used widely and has been playing a very important role in the modern production and life. According to the requirements of motion control system, such as well real-time control and strong stability, the development of motion controller, which is of high precision, high efficiency, open and has the network capabilities, is of great significance. In this thesis, the design of motion controller based on SOPC by the reusable IP technology is introduced, which is for the control of Brushless direct current motor(BLDCM) and implemented by single FPGA chip as the core controller.
Firstly, this thesis reviews the development status and trends of motion controller, and then compares the advantages and disadvantages of various motion controllers, and gives the control strategy and basic mathematical model of BLDCM.
Secondly, the design of the motion controller based on SOPC and the implementation of hardware circuit is put forward at the basis of the analysis of traditional motion controllers. In this design, MicroBlaze soft core is embedded in single FPGA chip and the main peripherals on-chip is connected by the IBM CoreConnect architecture which achieves the interconnection of the multiple IP system by reusable IP technology under the strategy of double loop of current and speed. And the design of user-defined IP, including BLDCM switching, PWM generator, data acquisition module and speed measurement module, is the focus.
Then the driver program development and system software design are discussed. The overall program of software design of BLDCM control is given and every software driver module in system is introduced in detail.
Finally, the experimental process and result are described, which have proved that the design of BLDCM controller based SOPC is right and feasible.
And this kind of design based on SOPC shortens the development cycle, improves the system reliability, makes the system easy to update and port and meets the development trend of motion controller.
文中首先综述了国内外运动控制器的发展现状和趋势,然后比较了各种运动控制器设计方案的优缺点,阐述了无刷直流电机的控制方式和基本数学模型。
然后在比较了传统运动控制器优缺点的基础上,提出了基于SOPC技术的运动控制器的设计方案和主要硬件电路实现方式,并且在转速和电流双闭环的控制策略下,运用IP(Intellectual Property)复用的技术在单芯片FPGA上嵌入处理器软核MicroBlaze和以IBM CoreConnect总线互连的片上外设,实现了由多个IP核构成的系统,其中用户自定义IP是设计中的重点,主要包括无刷直流电机换向控制逻辑、PWM波发生电路、位置信号滤波和测速模块。
其次,详细阐述了基于SOPC技术的软件驱动开发和软件设计,提出了无刷直流电机的软件设计的整体控制方案,并对软件设计中每一个软件驱动模块进行了详细的说明。
最后在上述设计的基础上,进行了运动控制系统的实验调试。相关运行结果证明了采用SOPC技术实现无刷直流电机运动控制器的可行性和正确性。
本文所采用的SOPC技术解决方案缩短了开发周期,减小了器件数目,提高了系统可靠性,使得系统易升级、易移植,具有一定的创新性。
With the rapid development of microelectronics, power electronics, signal detection and processing technology, automatic control theory and computer application technology , the motion control system is used widely and has been playing a very important role in the modern production and life. According to the requirements of motion control system, such as well real-time control and strong stability, the development of motion controller, which is of high precision, high efficiency, open and has the network capabilities, is of great significance. In this thesis, the design of motion controller based on SOPC by the reusable IP technology is introduced, which is for the control of Brushless direct current motor(BLDCM) and implemented by single FPGA chip as the core controller.
Firstly, this thesis reviews the development status and trends of motion controller, and then compares the advantages and disadvantages of various motion controllers, and gives the control strategy and basic mathematical model of BLDCM.
Secondly, the design of the motion controller based on SOPC and the implementation of hardware circuit is put forward at the basis of the analysis of traditional motion controllers. In this design, MicroBlaze soft core is embedded in single FPGA chip and the main peripherals on-chip is connected by the IBM CoreConnect architecture which achieves the interconnection of the multiple IP system by reusable IP technology under the strategy of double loop of current and speed. And the design of user-defined IP, including BLDCM switching, PWM generator, data acquisition module and speed measurement module, is the focus.
Then the driver program development and system software design are discussed. The overall program of software design of BLDCM control is given and every software driver module in system is introduced in detail.
Finally, the experimental process and result are described, which have proved that the design of BLDCM controller based SOPC is right and feasible.
And this kind of design based on SOPC shortens the development cycle, improves the system reliability, makes the system easy to update and port and meets the development trend of motion controller.
引文
1 云利军 , 孙鹤旭 , 雷兆明等 . 基于 MicroBlaze 的网络化运动控制器研究 . 电气传动,2006,36(4): 53~57
2 王晓明.电动机的 DSP 控制.北京航空航天大学出版社,2004:230~236
3 石英,李新新,姜宇柏等.ISE 应用与开发技巧,机械工业出版社,2006:101~107
4 Xilinx. Spartan-3 FPGA Family: Completely datasheet. 2006
5 Xilinx. MicroBlaze Processor Reference Guide.2005
6 夏宇闻. Verilog 数字系统设计教程.北京航空航天大学出版社,2003:129~145
7 王继国 , 吉吟东 , 孙新亚 .CAN 总线控制器 MCP2515 的原理及应用 . 电测与仪表,2004,41(1):52-56
8 Mcirochip. Stand-Alone CAN Controller with SPI Interface.2003.
9 董代结,郭怀理,曹春雨等.基于 FPGA 的可编程 SoC 设计.北京航天航空大学出版社,2006:124~182
10 陈伯时.电力拖动自动控制系统——运动控制系统.机械工业出版社,2003:103~108
11 舒志兵,袁佑新,周玮等.现场总线运动控制系统.电子工业出版社,2006:3~8
12 刘锦波,张承慧.电机与拖动.清华大学出版社,2006:367~370
13 郗志刚,周宏甫.运动控制器的发展与现状.电气传动自动化,2005,27(3):10~14
14 Xilinx,MicroBlaze Development Kit User's Manual,2005
15 IBM.On-Chip Peripheral Bus Architecture Specification, 2001
16 张相军,陈伯时,无刷直流电机控制系统中 PWM 调制方式对换相转矩脉动的影响.电机与控制学报,2003,2
17 王磊,基于 MicrBlaze 软核的 FPGA 片上系统设计.单片机与嵌入式系统设计,2004,7
18 阎骏,李琳,基于 FPGA Microblaze 软核实现的直流电机控制系统.电机技术,2007,6:26~28
19 李占发.基于 SOPC 运动控制器的研究与开发.江苏大学硕士论文.2007:23~26
20 Kevin D.OldKnow, Ian Yellowley. FPGA-Based Servo Control and Three-Dimensional Dynamic Interpolation,IEEE Trans. on Mechatronics.2005(10):98~110
21 John F.Wakerly. 数字设计原理与实践.机械工业出版社,2007:526~545
22 Xilinx. Device Driver Programmer Guide. 2002
23 Intel. Flash Memory JS28F320J3D Datasheet.2006
24 CYPRESS. SRAM CY7C1354B.2004
25 IR. IR2132 Datasheet.2005
26 ADI.AD7266 Datasheet.2006
27 Xilinx.OPB IPIF Architecture.2004
28 Xilinx. OPB SPI.2006
29 曾 丽 , 吴 浩 烈 . 永 磁 直 流 无 刷 电 机 系 统 仿 真 研 究 . 贵 州 工 业 大 学 学 报 ( 自 然版),2004,33(6):36~38
30 Xilinx.OPB EMC.2006
31 Xilinx.OPB UART Lite.2005
32 Xilinx.OPB Timer/Counter.2005
33 P.He,M.H.Jin,L.Yang.High Performance FPGA/DSP Controller for Implementation ofHIT/DLR Dexterous Robot Hand,IEEE International Conference on Robot&Automation.New Orleans,2004,4
34 Bimal K.Bose.现代电力电子学与交流传动(英文版).机械工业出版社,2002:515~519
35 王成元,常国祥,夏加宽.基于 FPGA 的光栅信号智能接口模块.电气传动,2007,37(4):59~61
36 LEM.LTS6-NP datasheet.2005
37 FAIRCHILD.6N137.2006
38 A.Halvaei Niasar,Abolfazl Vahedi,Hassan Moghbeli.Torque Control of Brushless DC Motor Drive based on DSP Technology.IEEE 2007 International Electrical Machines and Sysems Conference,October 2007
39 Xilinx. User Core Templates Reference Guide.2005
40 Xilinx.Embedded System Tolls Guide.2005
41 魏然,金明河,刘伊威等.基于 NIOS 软核处理器的直流无刷电机控制系统设计.电气传动,2005,35(8):19-21
42 刘和平.TMS320LF240x DSP C 语言开发应用.北京航天航空大学出版社,2003
43 唐思章,黄勇.SOPC 与嵌入式系统软硬件协同设计.单片机与嵌入式系统应用,2005 年 12期
2 王晓明.电动机的 DSP 控制.北京航空航天大学出版社,2004:230~236
3 石英,李新新,姜宇柏等.ISE 应用与开发技巧,机械工业出版社,2006:101~107
4 Xilinx. Spartan-3 FPGA Family: Completely datasheet. 2006
5 Xilinx. MicroBlaze Processor Reference Guide.2005
6 夏宇闻. Verilog 数字系统设计教程.北京航空航天大学出版社,2003:129~145
7 王继国 , 吉吟东 , 孙新亚 .CAN 总线控制器 MCP2515 的原理及应用 . 电测与仪表,2004,41(1):52-56
8 Mcirochip. Stand-Alone CAN Controller with SPI Interface.2003.
9 董代结,郭怀理,曹春雨等.基于 FPGA 的可编程 SoC 设计.北京航天航空大学出版社,2006:124~182
10 陈伯时.电力拖动自动控制系统——运动控制系统.机械工业出版社,2003:103~108
11 舒志兵,袁佑新,周玮等.现场总线运动控制系统.电子工业出版社,2006:3~8
12 刘锦波,张承慧.电机与拖动.清华大学出版社,2006:367~370
13 郗志刚,周宏甫.运动控制器的发展与现状.电气传动自动化,2005,27(3):10~14
14 Xilinx,MicroBlaze Development Kit User's Manual,2005
15 IBM.On-Chip Peripheral Bus Architecture Specification, 2001
16 张相军,陈伯时,无刷直流电机控制系统中 PWM 调制方式对换相转矩脉动的影响.电机与控制学报,2003,2
17 王磊,基于 MicrBlaze 软核的 FPGA 片上系统设计.单片机与嵌入式系统设计,2004,7
18 阎骏,李琳,基于 FPGA Microblaze 软核实现的直流电机控制系统.电机技术,2007,6:26~28
19 李占发.基于 SOPC 运动控制器的研究与开发.江苏大学硕士论文.2007:23~26
20 Kevin D.OldKnow, Ian Yellowley. FPGA-Based Servo Control and Three-Dimensional Dynamic Interpolation,IEEE Trans. on Mechatronics.2005(10):98~110
21 John F.Wakerly. 数字设计原理与实践.机械工业出版社,2007:526~545
22 Xilinx. Device Driver Programmer Guide. 2002
23 Intel. Flash Memory JS28F320J3D Datasheet.2006
24 CYPRESS. SRAM CY7C1354B.2004
25 IR. IR2132 Datasheet.2005
26 ADI.AD7266 Datasheet.2006
27 Xilinx.OPB IPIF Architecture.2004
28 Xilinx. OPB SPI.2006
29 曾 丽 , 吴 浩 烈 . 永 磁 直 流 无 刷 电 机 系 统 仿 真 研 究 . 贵 州 工 业 大 学 学 报 ( 自 然版),2004,33(6):36~38
30 Xilinx.OPB EMC.2006
31 Xilinx.OPB UART Lite.2005
32 Xilinx.OPB Timer/Counter.2005
33 P.He,M.H.Jin,L.Yang.High Performance FPGA/DSP Controller for Implementation ofHIT/DLR Dexterous Robot Hand,IEEE International Conference on Robot&Automation.New Orleans,2004,4
34 Bimal K.Bose.现代电力电子学与交流传动(英文版).机械工业出版社,2002:515~519
35 王成元,常国祥,夏加宽.基于 FPGA 的光栅信号智能接口模块.电气传动,2007,37(4):59~61
36 LEM.LTS6-NP datasheet.2005
37 FAIRCHILD.6N137.2006
38 A.Halvaei Niasar,Abolfazl Vahedi,Hassan Moghbeli.Torque Control of Brushless DC Motor Drive based on DSP Technology.IEEE 2007 International Electrical Machines and Sysems Conference,October 2007
39 Xilinx. User Core Templates Reference Guide.2005
40 Xilinx.Embedded System Tolls Guide.2005
41 魏然,金明河,刘伊威等.基于 NIOS 软核处理器的直流无刷电机控制系统设计.电气传动,2005,35(8):19-21
42 刘和平.TMS320LF240x DSP C 语言开发应用.北京航天航空大学出版社,2003
43 唐思章,黄勇.SOPC 与嵌入式系统软硬件协同设计.单片机与嵌入式系统应用,2005 年 12期