Driver SVPWM control system based on DSP and FPGA

Abstract

A DSP and FPGA-based driver SVPWM control system provided by the present invention comprises a DSP and an FPGA control board, the DSP is connected with the FPGA control board, and the FPGA control board is connected with an upper computer, a display, a master control system, a parameter setting component, a filter plate, a panel, a driving board, a sampling assembly, a rotary transformer, a communication interface and a position encoder. The sampling assembly collects data of the rotating speed, the rotating angle, the temperature and the current of the motor in real time, when the upper computer or the main control system binds the given current or the given speed, the DSP modulates the voltage space vector pulse according to the corresponding given value after receiving an instruction, finally outputs a PWM signal to drive the motor to move, and feeds back the system state to the upper computer to be displayed. The speed and the torque of the motor can be accurately controlled by using the SVPWM control system; the communication mode of the SVPWM control system and each encoder adopts a CAN bus, so that the reliability is high, and the expansion is easy.

Description

Technical Field

[0001] The invention relates to a driver SVPWM control system based on DSP and FPGA. Background Art

[0002] As the demand for motor control in the aerospace field reaches the microsecond level, traditional control architectures such as CPU and PLC can no longer guarantee the real-time changes in motor demand; and the synchronous execution of current tracking control algorithms and pulse width modulation algorithm operations also puts forward higher requirements for the flexibility of hardware platform program development and the adaptability of control algorithms. However, most of the existing hardware-in-the-loop platforms are built with foreign real-time processor products, which have high hardware costs and technical monopolies, making it inconvenient to upgrade hardware, and their use in military vehicles, aerospace and other fields is also severely restricted. For example, the FPGA+DSP disclosed in CN113890425A realizes a high-speed and high-precision servo controller. The FPGA processor collects the angular position and current of the servo motor through a resolver decoder and an excitation drive circuit. At the same time, the FPGA processor controls the current and voltage on the servo motor terminal through a PWM signal and an optocoupler drive IGBT according to the position of the rotor. By generating SVPWM and current loop control algorithms inside the FPGA, the DSP realizes the control algorithm of torque, speed and position; thereby achieving precise control of the servo motor. Let the servo controller have better reliability and higher response speed. However, the output end seat switch of the optocoupler is set on the terminal and power connection line of the motor, which increases the complexity of the system. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a driver SVPWM control system based on DSP and FPGA.

[0004] The present invention is achieved through the following technical solutions.

[0005] The present invention provides a driver SVPWM control system based on DSP and FPGA, which is characterized by comprising a DSP and an FPGA control board, wherein the DSP and the FPGA control board are connected, and the FPGA control board is respectively connected to a host computer, a display, a main control system, a parameter setting component, a filter board, a panel, a drive board, a sampling component, a rotary transformer, a communication interface, and a position encoder, wherein the sampling component collects real-time motor speed, angle, temperature, and current data, and when the host computer or the main control system sets a given current or a given speed, the DSP modulates the voltage space vector pulse according to the corresponding given value after receiving the instruction, and finally outputs a PWM signal to drive the motor to move, and at the same time feeds back the system status to the host computer for display.

[0006] The communication interface includes 1 RS485, 2 RS422, 1 CAN communication module, 1 Ethernet communication module, 12 KI signals, 24 KO signals and 4 PWM outputs.

[0007] Among the 4 PWM outputs: PWM1-PWM6 outputs control the opening and closing of the IGBT module on the driving board, and the PWM-PB signal controls the discharge.

[0008] The DSP filters the data collected by the sampling component and transmits it to the main control system and the host computer.

[0009] The sampling component comprises a sampling plate, and the sampling plate is respectively connected with a Hall current sensor, a temperature sensor, a resolver encoder, a position encoder, a torque simulator, and a speed simulator.

[0010] When the main control system or host computer gives a current or speed, the DSP control software uses the voltage space vector to determine the PWM signal, generating a circular rotating magnetic field in space, thereby generating a constant electromagnetic torque.

[0011] The main control system and the host computer communicate with the DSP control software, and upload the voltage vector space modulation information to the host computer and the main control system for real-time dynamic display.

[0012] The beneficial effects of the present invention are: the SVPWM control system can accurately control the speed and torque of the motor; the communication mode between the SVPWM control system and each encoder all adopts the CAN bus, which has high reliability and is easy to expand; the serial port is used with the main control system and the display, which is easy to implement and maintain. The serial port has strong stability, can realize transmission within a long transmission distance, and is not easily affected by external interference. The SVPWM control system uses DSP and FPGA microcontrollers to build hardware circuits, and builds SVPWM control system software based on DSP chips, which has the advantages of simple structure, flexible control, stable operation, high reliability, easy maintenance and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the structural principle of the control system of the present invention;

[0014] Figure 2 This is a schematic diagram of the control flow of the present invention;

[0015] Figure 3 This is a schematic diagram of the SVPWM control system structure of this system. DETAILED DESCRIPTION

[0016] The technical solution of the present invention is further described below, but the scope of protection claimed is not limited to the description.

[0017] The host computer or main control system sends instructions, the FPGA receives the control signal, and transmits the angle and speed data of the rotation edge encoding, the resistance value of the temperature sensor and the AD board sampling data to the DSP software through the address bus. The DSP software processes it, outputs the corresponding PWM waveform, drives the motor, and uploads the status to the remote control display.

[0018] The SVPWM control system uses a DSP28335 microcontroller and a Spartan-6 FPGA chip to build a hardware circuit, and the SVPWM control system builds the SVPWM control system software based on the DSP microcontroller.

[0019] The SVPWM control system adopts a modular design, including 3 CAN bus modules, one RS485, 2 RS422 and one Ethernet. One of the three CAN bus modules is connected to the host computer, two are used for backup, RS485 is used to communicate with the display, and RS422 is used for the main control system and setting control parameters.

[0020] The data of the high-precision edge rotation sensor is collected by the FPGA chip and sent to the DSP software. The DSP software performs filtering processing on the rotation angle, and the filtering method adopted is first-order filtering.

[0021] The SVPWM control system communicates with the display and uploads the current status information of the system to the display for display.

[0022] The principle of the electrical control system is as follows:

[0023] Voltage space vector pulse width modulation (SVPWM) is a main modulation method of permanent magnet synchronous motor vector control system. It uses voltage space vector to determine PWM signal, generates circular rotating magnetic field in space, and thus generates a constant electromagnetic torque. Since the trajectory of magnetic flux is obtained by adding voltage space vector, it is called voltage space vector control. Vector control is developed on the basis of motor unified theory, electromechanical energy conversion and vector transformation theory. Its basic idea is: try to simulate the law of DC motor torque control on ordinary three-phase AC motor, decompose the stator current of three-phase AC motor in the rotating coordinate system oriented by rotor magnetic field through vector transformation in magnetic field oriented coordinates, and obtain the excitation current component that generates magnetic flux and the torque current component that generates torque. By controlling the amplitude and phase of stator current, the two components after coordinate transformation can be controlled independently. Since the two current components are orthogonal, controlling their sizes separately can control the torque angle of the motor. For synchronous motor, the power factor of the motor is controlled accordingly, and the torque can also be effectively controlled. SVPWM starts from the perspective of the motor and focuses on how to make the motor obtain a circular rotating magnetic field with constant amplitude, thereby generating a constant electromagnetic torque. This modulation method considers the inverter and the motor as a whole, takes the ideal flux circle of the AC motor when powered by a three-phase symmetrical sine wave voltage as the reference, and uses the actual flux vector generated by different working modes of the inverter to track the reference flux circle. The switching mode of the inverter is determined by the tracking result to form a PWM wave. The SVPWM control system is divided into current loop mode and speed loop mode according to the control mode. In the current loop mode and speed loop mode, the host computer or the main control system sends the given current and given speed to the DSP control software through CAN communication. The DSP control software performs calculations and controls the EPWM module of the DSP28335 chip to output PWM waveforms.

Claims

1. A driver SVPWM control system based on DSP and FPGA, characterized in that: The invention comprises a DSP and an FPGA control board, wherein the DSP and the FPGA control board are connected, and the FPGA control board is respectively connected with a host computer, a display, a main control system, a parameter setting component, a filter board, a panel, a drive board, a sampling component, a rotary transformer, a communication interface, and a position encoder. The sampling component collects real-time data on motor speed, angle, temperature, and current. When the host computer or the main control system sets a given current or a given speed, the DSP modulates a voltage space vector pulse according to a corresponding given value after receiving an instruction, and finally outputs a PWM signal to drive the motor to move, and at the same time feeds back the system status to the host computer for display.

2. The driver SVPWM control system based on DSP and FPGA as claimed in claim 1, characterized in that: The communication interface includes 1 RS485, 2 RS422, 1 CAN communication module, 1 Ethernet communication module, 12 KI signals, 24 KO signals and 4 PWM outputs.

3. The driver SVPWM control system based on DSP and FPGA as claimed in claim 2, characterized in that: Among the 4 PWM outputs: PWM1-PWM6 outputs control the opening and closing of the IGBT module on the driving board, and the PWM-PB signal controls the discharge.

4. The driver SVPWM control system based on DSP and FPGA as claimed in claim 1, characterized in that: The DSP filters the data collected by the sampling component and transmits it to the main control system and the host computer.

5. The driver SVPWM control system based on DSP and FPGA as claimed in claim 1, characterized in that: The sampling component comprises a sampling plate, and the sampling plate is respectively connected with a Hall current sensor, a temperature sensor, a resolver encoder, a position encoder, a torque simulator, and a speed simulator.

6. The driver SVPWM control system based on DSP and FPGA as claimed in claim 1, characterized in that: When the main control system or host computer gives a current or speed, the DSP control software uses the voltage space vector to determine the PWM signal, generating a circular rotating magnetic field in space, thereby generating a constant electromagnetic torque.

7. The driver SVPWM control system based on DSP and FPGA as claimed in claim 1, characterized in that: The main control system and the host computer communicate with the DSP control software, and upload the voltage vector space modulation information to the host computer and the main control system for real-time dynamic display.

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