CN106998165A - A kind of multiaxis electric current loop implementation method of FPGA - Google Patents
A kind of multiaxis electric current loop implementation method of FPGA Download PDFInfo
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- CN106998165A CN106998165A CN201710289447.9A CN201710289447A CN106998165A CN 106998165 A CN106998165 A CN 106998165A CN 201710289447 A CN201710289447 A CN 201710289447A CN 106998165 A CN106998165 A CN 106998165A
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000012545 processing Methods 0.000 claims abstract description 12
- 238000005070 sampling Methods 0.000 claims description 15
- 230000010354 integration Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 230000003068 static effect Effects 0.000 claims 1
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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Classifications
-
- 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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
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- Control Of Multiple Motors (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention discloses the multiaxis electric current loop implementation method of FPGA a kind of, including step：Each functional module is constituted into streamline, and signal serial section and signal parallel part are divided into according to the operation independent cycle of each functional module, the functional module of the signal parallel part takes each motor shaft signal simultaneous mode, and the functional module of the signal serial section takes each motor shaft the time-multiplexed processing mode of signal.This method causes whole system to ensure arithmetic speed while logical resource is saved.
Description
Technical field
The present invention relates to the technical field of motor, more particularly to a kind of FPGA multiaxis electric current loop implementation method.
Background technology
For the realization of multiaxis electric current loop, conventional way is that one piece of control chip realizes an electric current loop, and this will be used
To polylith chip, it is unfavorable for the integrated and cost control of system.
State Intellectual Property Office disclosed a kind of " multi-axis servo motor electric current based on FPGA on December 05th, 2012
Ring control system and control method ", number of patent application is：" 201210253149.1 ", the control system includes being arranged on FPGA
On parallel bus communication module, AD sampling control modules, vector module, complex vector adjuster, encoder it is anti-
Feedback signal processing module, sine and cosine computing module, SVPWM computing modules, PWM standard outputs module, dynamic layout mould
Block and current regulating module, using pure hardware logic realize, can complete independently to the same of multiaxis the current of AC servo machinery ring
Step control, the system is controlled using time-multiplexed thought to electric current loop.
It is due to the only of each functional module although can greatly save logical resource using time-multiplexed mode
Vertical operation time is variant, if repertoire module all uses time-multiplexed mode, then the overall operational time is then
Increase significantly, require that higher current loop control system can then be far from suitable for some control times.
The content of the invention
The purpose of the present invention is：There is provided a kind of multiaxis electric current loop realizes system, and the system is using pile line operation and simultaneously
The compound control mode of row operation, realizes the multiplexing of multiple modules while having saved operation time.
The present invention solve its technical problem solution be：The multiaxis electric current loop implementation method of FPGA a kind of, including step
Suddenly：Each functional module is constituted into streamline, it is characterised in that also including step：According to the operation independent of each functional module
Cycle is divided into signal serial section and signal parallel part；The operation independent cycle of the functional module of the signal serial section is equal
Identical, the motor number of axle is set to i, and the operation independent cycle of the functional module of the signal serial section is then i-1 clock cycle,
The functional module of the signal parallel part takes each motor shaft signal simultaneous mode, the work(of the signal serial section
Energy module takes each motor shaft the time-multiplexed processing mode of signal, and the time-multiplexed processing mode of signal is：If k is
Motor shaft sequence number, each functional module is to the entry condition of kth motor shaft computing：Previous functional module is to k-th of electricity
Arbor computing terminates and latter module has been started up to -1 motor shaft computing of kth.
Further, the signal parallel part includes：AD sampling modules, encoder, pid adjustment modules, pwm pulse are produced
Module；The signal serial section includes：Clarke computing modules, park computing modules, ipark computing modules, dutycycle fortune
Calculate module, electrical angle computing module and cordic computing modules；The AD sampling modules are used to obtain each motor shaft respective channel
Current sampling data；The clarke computing modules are used to the current sampling data being equivalent to biphase current from three-phase current；
The encoder is used to obtain the corresponding positional information of each motor shaft；The electrical angle computing module is used for the positional information
It is converted into electrical angle；The cordic computing modules be used for the electrical angle be converted into correspondence electrical angle just, cosine value；It is described
Park computing modules be used for the biphase current for receiving each motor shaft and correspondence electrical angle just, cosine value, and calculate rotation
The quadrature current of d, q axle under coordinate system；The pid adjustment modules are used to carry out proportional integration regulation to quadrature current and export rotation
Turn the voltage control quantity of d axles under coordinate, the voltage control quantity of q axles；The ipark computing modules are used for the voltage of the d axles
Controlled quentity controlled variable, the voltage control quantity of q axles are converted into the voltage control quantity of the α axles under rest frame, the voltage control quantity of β axles；Institute
State the voltage control that dutycycle computing module is used to receive the voltage control quantity of the α axles of ipark computing modules output, β axles
Amount, and according to the three-phase PWM signal dutyfactor of the voltage control quantity of α axles, β axles output correspondence motor shaft；The pwm pulse production
Raw module is used to three-phase PWM signal dutyfactor is converted into three-phase PWM pulsewidth set-point and exported.
Further, the motor shaft is 4.
The beneficial effects of the invention are as follows：Each functional module is divided into train of signal by the independent operating cycle according to each functional module
Row part and signal parallel part and composition streamline, use time division multiplexing mode, in signal parallel portion in signal serial section
Divide and use signal simultaneous mode so that whole system ensures arithmetic speed while logical resource is saved.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, makes required in being described below to embodiment
Accompanying drawing is briefly described.Obviously, described accompanying drawing is a part of embodiment of the present invention, rather than is all implemented
Example, those skilled in the art on the premise of not paying creative work, can also obtain other designs according to these accompanying drawings
Scheme and accompanying drawing.
Fig. 1 is the structured flowchart that 4 shaft current rings realize system.
Embodiment
The technique effect of the design of the present invention, concrete structure and generation is carried out below with reference to embodiment and accompanying drawing clear
Chu, complete description, to be completely understood by the purpose of the present invention, feature and effect.Obviously, described embodiment is this hair
Bright a part of embodiment, rather than whole embodiments, based on embodiments of the invention, those skilled in the art is not paying
The other embodiment obtained on the premise of creative work, belongs to the scope of protection of the invention.In addition, be previously mentioned in text
All connection/annexations, not singly refer to component and directly connect, and refer to be added deduct by adding according to specific implementation situation
Few couple auxiliary, to constitute more excellent draw bail.Every technical characteristic in the invention, in not conflicting conflict
Under the premise of can be with combination of interactions.
Embodiment 1, realizes that this method is described as example for system using 4 shaft current rings, with reference to Fig. 1, signal parallel portion
Dividing includes：AD sampling modules, encoder, pid adjustment modules（PID adjustment module）, pwm pulse generation module；
Signal serial section includes：Clarke computing modules（Clarke algoritic module）, park computing modules（Parker's computing mould
Block）, ipark computing modules, dutycycle computing module, electrical angle computing module and cordic computing modules（Coordinate Rotation Digital
Computerized algorithm）；The AD sampling modules are used for the current sampling data for obtaining each motor shaft respective channel；
The clarke computing modules are used to the current sampling data being equivalent to biphase current from three-phase current；The encoder
For obtaining the corresponding positional information of each motor shaft；The electrical angle computing module is used to the positional information being converted into electric angle
Degree；The cordic computing modules be used for the electrical angle be converted into correspondence electrical angle just, cosine value；The park calculates mould
Block be used for the biphase current for receiving each motor shaft and correspondence electrical angle just, cosine value, and calculate d, q under rotating coordinate system
The quadrature current of axle；The pid adjustment modules are used to carry out proportional integration regulation to quadrature current and export d axles under rotational coordinates
Voltage control quantity, the voltage control quantity of q axles；The ipark computing modules are used for the voltage control quantities of the d axles, q axles
Voltage control quantity is converted into the voltage control quantity of the α axles under rest frame, the voltage control quantity of β axles；The dutycycle computing
Module be used for receive ipark computing modules output the α axles voltage control quantity, the voltage control quantity of β axles, and according to α axles,
The three-phase PWM signal dutyfactor of the voltage control quantity output correspondence motor shaft of β axles；The pwm pulse generation module is used for three
Phase PWM signal dutyfactors are converted into three-phase PWM pulsewidth set-point and exported.
Clarke computing modules, park computing modules, ipark computing modules, dutycycle computing module, electrical angle calculate mould
Block and cordic computing module operation independent cycle all sames, the present embodiment are 3 clock cycle.
The signal parallel part uses signal simultaneous mode, and the mode refers to using multiple identical functions
Module is handled signal simultaneously, such as the present embodiment just take 4 AD sampling modules, encoder, pid adjustment modules and
Pwm pulse generation module.
The signal serial section uses the time-multiplexed processing mode of signal, the time-multiplexed processing mode of signal
For：If k is motor shaft sequence number, each functional module is to the entry condition of kth motor shaft computing：Previous functional module pair
K-th of motor shaft computing terminates and latter module has been started up to -1 motor shaft computing of kth.
This method is further described below：Motor shaft is opened labeled as 1. number, 2. number, 3. number, 4. number when electric current loop is sent
When dynamic signal, encoder 1,2,3,4 gathers the positional value of each motor shaft of correspondence simultaneously, and AD sampling modules 1,2,3,4 are same
When collection correspondence each motor shaft current value, just start electrical angle meter after the completion of encoder 4 and AD use the equal computing of module 4
Calculate module and clarke computing modules.1. the data of number motor shaft are transferred to electrical angle computing module and handled by encoder 1,
Wait after 3 clock cycle, the data of 2. number motor shaft are transferred to electrical angle computing module and handled by encoder 2.Using
This time-multiplexed mode is successively by 1. number, 2. number, 3. number, 4. the data of number motor shaft are handled.Clarke calculates mould
Processing of the block to each motor shaft is similar.Because a processing links have been lacked in the processing to motor shaft current value, clarke is calculated
Module increases by the caching of 3 clock cycle, so that the result and cordic of the processing of clarke computing modules calculate mould
The structure of block processing can synchronously enter park computing modules.
Pid adjustment modules, ipark computing modules, dutycycle computing module, pwm pulse production are sequentially entered in this form
Raw module.When input signal is asynchronous, caching can be increased so that input signal reaches synchronization.
The better embodiment to the present invention is illustrated above, but the invention is not limited to the implementation
Example, those skilled in the art can also make a variety of equivalent modifications or replace on the premise of without prejudice to spirit of the invention
Change, these equivalent modifications or replacement are all contained in the application claim limited range.
Claims (3)
1. the multiaxis electric current loop implementation method of FPGA a kind of, including step：Each functional module is constituted into streamline, its feature exists
In, in addition to step：Signal serial section and signal parallel part are divided into according to the operation independent cycle of each functional module；Institute
The operation independent cycle all same of the functional module of signal serial section is stated, the motor number of axle is set to i, the signal serial section
The operation independent cycle of functional module is then i-1 clock cycle, and the functional module of the signal parallel part is to each motor shaft
Signal simultaneous mode is taken, the functional module of the signal serial section takes each motor shaft the time-multiplexed place of signal
Reason mode, the time-multiplexed processing mode of signal is：If k is motor shaft sequence number, each functional module is to kth motor shaft
The entry condition of computing is：Previous functional module terminates to k-th of motor shaft computing and latter module is to -1 motor of kth
Axle computing has been started up.
2. a kind of FPGA according to claim 1 multiaxis electric current loop implementation method, it is characterised in that the signal parallel
Part includes：AD sampling modules, encoder, pid adjustment modules, pwm pulse generation module；The signal serial section includes：
Clarke computing modules, park computing modules, ipark computing modules, dutycycle computing module, electrical angle computing module and
Cordic computing modules；
The AD sampling modules are used for the current sampling data for obtaining each motor shaft respective channel；
The clarke computing modules are used to the current sampling data being equivalent to biphase current from three-phase current；
The encoder is used to obtain the corresponding positional information of each motor shaft；
The electrical angle computing module is used to the positional information being converted into electrical angle；
The cordic computing modules be used for the electrical angle be converted into correspondence electrical angle just, cosine value；
The park computing modules be used for the biphase current for receiving each motor shaft and correspondence electrical angle just, cosine value, and calculate
Draw the quadrature current of d, q axle under rotating coordinate system；
The pid adjustment modules are used to carry out proportional integration regulation to quadrature current and export the voltage control of d axles under rotational coordinates
The voltage control quantity of amount processed, q axles；
The ipark computing modules are used to the voltage control quantity of the voltage control quantity of the d axles, q axles being converted into static coordinate
Voltage control quantity, the voltage control quantity of β axles of α axles under system；
The dutycycle computing module is used for voltage control quantity, the electricity of β axles for receiving the α axles of ipark computing modules output
Controlled quentity controlled variable is pressed, and according to the three-phase PWM signal dutyfactor of the voltage control quantity of α axles, β axles output correspondence motor shaft；
The pwm pulse generation module is used to three-phase PWM signal dutyfactor is converted into three-phase PWM pulsewidth set-point and exported.
3. a kind of FPGA according to claim 2 multiaxis electric current loop implementation method, it is characterised in that：The motor shaft is
4.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710289447.9A CN106998165A (en) | 2017-04-27 | 2017-04-27 | A kind of multiaxis electric current loop implementation method of FPGA |
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| CN201710289447.9A CN106998165A (en) | 2017-04-27 | 2017-04-27 | A kind of multiaxis electric current loop implementation method of FPGA |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107453668A (en) * | 2017-09-21 | 2017-12-08 | 上海辛格林纳新时达电机有限公司 | Phase current detection method and device |
| CN111600525A (en) * | 2020-06-04 | 2020-08-28 | 佛山智能装备技术研究院 | Multi-axis vector calculation method and device based on control-drive integrated robot |
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| KR20040064104A (en) * | 2003-01-09 | 2004-07-16 | 삼성중공업 주식회사 | Multi joints position control device uning fpga |
| US7194321B2 (en) * | 2004-10-29 | 2007-03-20 | Dynacity Technology (Hk) Limited | Modular multi-axis motion control and driving system and method thereof |
| CN102811012A (en) * | 2012-07-20 | 2012-12-05 | 华中科技大学 | Field programmable gate array-based (FPGA-based) multi-axis servo motor current loop control system and control method |
| CN203027173U (en) * | 2012-12-03 | 2013-06-26 | 北京北超伺服技术有限公司 | Multiaxial alternating current servo driving device |
| CN106208876A (en) * | 2016-08-02 | 2016-12-07 | 李梁 | Multiaxis AC Servo Motor Control device |
| CN206283441U (en) * | 2016-08-02 | 2017-06-27 | 苏州艾文芯伺电气技术有限公司 | A kind of multiaxis AC Servo Motor Control device |
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2017
- 2017-04-27 CN CN201710289447.9A patent/CN106998165A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| KR20040064104A (en) * | 2003-01-09 | 2004-07-16 | 삼성중공업 주식회사 | Multi joints position control device uning fpga |
| US7194321B2 (en) * | 2004-10-29 | 2007-03-20 | Dynacity Technology (Hk) Limited | Modular multi-axis motion control and driving system and method thereof |
| CN102811012A (en) * | 2012-07-20 | 2012-12-05 | 华中科技大学 | Field programmable gate array-based (FPGA-based) multi-axis servo motor current loop control system and control method |
| CN203027173U (en) * | 2012-12-03 | 2013-06-26 | 北京北超伺服技术有限公司 | Multiaxial alternating current servo driving device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107453668A (en) * | 2017-09-21 | 2017-12-08 | 上海辛格林纳新时达电机有限公司 | Phase current detection method and device |
| CN111600525A (en) * | 2020-06-04 | 2020-08-28 | 佛山智能装备技术研究院 | Multi-axis vector calculation method and device based on control-drive integrated robot |
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Application publication date: 20170801 |
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