Field programmable gate array-based (FPGA-based) multi-axis servo motor current loop control system and control method

Abstract

The invention discloses a field programmable gate array-based (FPGA-based) multi-axis servo motor current loop control system and a control method. The control system comprises a parallel bus communication module, an analog-digital (AD) sampling control module, a vector transformation module, a complex vector adjuster, a coder feedback signal processing module, a sine-cosine calculation module, a space vector pulse width modulation (SVPWM) operation module, a pulse width modulation (PWM) standard output module, a time sequence planning module and a current modulation module, pure hardware logic is adopted to realize, and the synchronous control of a multi-axis alternative-current servo motor current loop can be independently completed; meanwhile, integrating the concept of a production line and a time division multiplexing, the invention provides a multi-axis time sequence control method, which can improve the FPGA resource utilization rate and the operation speed; and due to the adoption of the control system and the control method, while the current loop adjusting time is remarkably shortened, different application requirements such as high-speed high-precision servo drive, multi-axis synchronous drive and control of a servo motor with small winding inductance can be met.

Description

technical field [0001] The invention belongs to the field of industrial automation control, in particular to an FPGA-based multi-axis servo motor current loop control system and control method. Background technique [0002] Most of the currently widely used servo drivers are realized by pure software based on microprocessors such as MCU or DSP. Due to the serial execution characteristics of the software inherent in the code and the limitation of the microprocessor frequency, it is difficult to reduce it from the perspective of overall implementation. The time required to complete a sampling control is small, and the lag generated by common software-based solutions also greatly reduces the real-time performance of motor control, especially the control performance of the current loop of the servo system. Therefore, when this type of driver faces some motors with small winding inductance, it is difficult to obtain the ideal control effect due to the relatively long control hyst...

AI Technical Summary

Problems solved by technology

[0002] Most of the currently widely used servo drivers are realized by pure software based on microprocessors such as MCU or DSP. Due to the serial execution characteristics of the software inherent in the code and the limitation of the microprocessor frequency, it is difficult to reduce it from the perspective of overall implementation. The time required to complete a sampling control is small, and the lag generated by common software-based solutions also greatly reduces the real-time performance of motor control, especially the control performance of the current loop of the servo system

Therefore, when this type of driver faces some motors with small winding inductance, it is difficult to obtain the ideal control effect due to the relatively long control hysteresis

Moreover, limited by the processing speed of the microprocessor and very limited peripheral resources, when it is necessary to build a larger control system (such as completing multi-motor cooperative control), sometimes it is necessary to adopt a multi-processor or multi-driver solution , which increases the cost and volume of the system, and it is difficult to improve the performance significantly

[0003] Although the dedicated motor control ASIC chip has high-speed computing and processing capabilities, the motor control algorithm and chip pin configuration inside the ASIC chip have been solidified, which cannot be changed by the user, and the flexibility is insufficient. The single-chip structure also limits its high-speed, multi- Application of shaft synchronous linkage

However, for the currently commonly used fieldbus network such as industrial Ethernet to realize multi-axis synchronous servo control, in order to realize the synchronous control of discrete servo control axes, complex distributed clock synchronization operations need to be processed in the network interface protocol, which is not easy to implement Simple multi-axis simultaneous control

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