Permanent magnet gyro motor control system, method and equipment based on FPGA (Field Programmable Gate Array) and DSP (Digital Signal Processor)

Abstract

The invention discloses a permanent magnet gyro motor control system, method and equipment based on an FPGA and a DSP, and relates to the technical field of motor control, the system comprises a motor driving and signal acquisition module, a differential filtering processing module, an FPGA control module and a DSP control module; the motor driving and signal acquisition module drives the permanent magnet gyroscope motor to operate by using the driving signal and acquires a current signal at the current moment; the differential filtering processing module carries out differential filtering on the current signal; the DSP control module generates switching instructions of different operation stages, and switching of the corresponding operation stages of the permanent magnet gyroscope motor and the FPGA control module is achieved based on the switching instructions; and the FPGA control module generates a driving signal at the next moment and a current control signal at the next moment based on the current signal subjected to differential filtering processing, so that real-time control on the permanent magnet gyro motor is realized. According to the invention, accurate real-time control of the high-speed permanent magnet gyro motor is realized.

Description

Technical Field

[0001] This application relates to the field of motor control technology, and in particular to a permanent magnet gyroscope motor control system, method and device based on FPGA and DSP. Background Technology

[0002] In aerospace, precision navigation, and high-end electromechanical systems, the core drive unit for guidance—the high-speed permanent magnet gyroscope motor—places extremely high demands on response speed and control precision. Traditional digital control architectures largely rely on digital signal processors (DSPs) to serially execute the main control algorithm. While stable at low and medium speeds, the program scheduling and computational latency issues become increasingly prominent as speed and control complexity increase. Especially in precision gyroscope systems, even microsecond-level delays can lead to accumulated deviations, affecting the overall attitude measurement and navigation accuracy. Therefore, overcoming the latency bottleneck of traditional DSP systems to achieve faster and more precise closed-loop control has become a pressing technical challenge in this field.

[0003] Therefore, it is necessary to provide a permanent magnet gyroscope motor control system based on FPGA and DSP to solve the above problems. Summary of the Invention

[0004] The purpose of this application is to provide a permanent magnet gyroscope motor control system, method and device based on FPGA and DSP, so as to realize precise real-time control of high-speed permanent magnet gyroscope motors.

[0005] To achieve the above objectives, this application provides the following solution:

[0006] In a first aspect, this application provides a permanent magnet gyroscope motor control system based on FPGA and DSP. The permanent magnet gyroscope motor control system based on FPGA and DSP includes: a motor drive and signal acquisition module, a differential filtering processing module, an FPGA control module, and a DSP control module; the permanent magnet gyroscope motor, the motor drive and signal acquisition module, the differential filtering processing module, and the FPGA control module are connected in sequence, and the FPGA control module is also connected to the motor drive and signal acquisition module and the DSP control module respectively.

[0007] The motor drive and signal acquisition module is used to drive the permanent magnet gyroscope motor using the drive signal at the current moment, and to acquire the current signal at the end of the permanent magnet gyroscope motor at the current moment.

[0008] The differential filtering module is used to perform differential filtering on the current signal at the current moment of the permanent magnet gyroscope motor to obtain the differentially filtered current signal at the current moment.

[0009] The DSP control module is used to generate switching instructions for different operating stages during the operation of the permanent magnet gyroscope motor. Based on the switching instructions for different operating stages, the corresponding operating stages of the permanent magnet gyroscope motor and the FPGA control module are switched. The operating stages include: primary current pre-positioning stage, secondary current pre-positioning stage, open-loop start-up stage of the permanent magnet gyroscope motor, closed-loop acceleration stage of the permanent magnet gyroscope motor, self-locking frequency stabilization stage of the permanent magnet gyroscope motor, and coasting deceleration stage of the permanent magnet gyroscope motor.

[0010] The FPGA control module is used to generate the drive signal and the current control signal for the next moment based on the differentially filtered current signal at the current moment during the current operation phase. The drive signal and the current control signal for the next moment are then sent to the motor drive and signal acquisition module to realize real-time control of the permanent magnet gyroscope motor.

[0011] In one embodiment, the FPGA and DSP-based permanent magnet gyroscope motor control system further includes: a digital-to-analog converter module;

[0012] The digital-to-analog conversion module is connected to the FPGA control module and the motor drive and signal acquisition module respectively, and is used to perform digital-to-analog conversion on the received drive signal and current control signal at the next moment.

[0013] In one embodiment, the FPGA control module includes: a raw data calibration unit, a trigonometric function calculation unit, a motor rotation conversion unit, a current loop controller, a third harmonic injection unit, an SPWM signal generation unit, a sensorless rotor position detection unit, and a speed loop controller.

[0014] The raw data calibration unit, trigonometric function calculation unit, motor rotation conversion unit, current loop controller, third harmonic injection unit, and SPWM signal generation unit are connected in sequence. The sensorless rotor position detection unit, speed loop controller, and current loop controller are connected in sequence. The sensorless rotor position detection unit is also connected to the trigonometric function calculation unit.

[0015] The raw data calibration unit is used to calibrate the current signal after differential filtering at the current time to obtain the calibrated current signal at the current time.

[0016] The trigonometric function calculation unit is used to calculate the sine and cosine values ​​of the rotor position at the current moment, based on the rotor position of the permanent magnet gyroscope motor at the current moment.

[0017] The motor rotation conversion unit is used to use a three-phase rotation conversion method to convert the calibrated current signal at the current moment from the three-phase stationary coordinate system to the two-phase rotating coordinate system based on the sine and cosine values ​​of the rotor position at the current moment, so as to obtain the calibrated current signal in the two-phase rotating coordinate system at the current moment.

[0018] The current loop controller is used to output the control duty cycle at the current moment based on the calibrated current signal in the two-phase rotating coordinate system at the current moment;

[0019] The third harmonic injection unit is used to inject the third harmonic into the control duty cycle at the current time, so as to obtain the control duty cycle after the third harmonic injection at the current time.

[0020] The SPWM signal generation unit is used to generate the drive signal for the next moment based on the control duty cycle after the third harmonic injection at the current moment using the SPWM modulation method.

[0021] The sensorless rotor position detection unit is used to identify the rotor position and rotor speed of the permanent magnet gyroscope motor based on the differentially filtered current signal at the current moment using a sensorless rotor position detection algorithm. This results in an estimate of the rotor position and rotor speed of the permanent magnet gyroscope motor at the next moment. The estimated rotor position of the permanent magnet gyroscope motor at the next moment is then sent to the trigonometric function calculation unit to update the sine and cosine values ​​of the rotor position at the current moment.

[0022] The speed loop controller is used to generate the current control signal for the next moment based on the estimated rotor speed of the permanent magnet gyroscope motor at the next moment.

[0023] In one embodiment, a three-phase rotational transformation method is used. Based on the sine and cosine values ​​of the rotor position at the current moment, the calibrated current signal at the current moment is transformed from the three-phase stationary coordinate system to the two-phase rotating coordinate system to obtain the calibrated current signal in the two-phase rotating coordinate system at the current moment. Specifically, this includes:

[0024] The Clarke transform method is used to transform the calibrated current signal at the current moment from the three-phase stationary coordinate system to the two-phase stationary coordinate system, so as to obtain the calibrated current signal in the two-phase stationary coordinate system at the current moment.

[0025] The Park transform method is used to transform the calibrated current signal in the two-phase stationary coordinate system to the two-phase rotating coordinate system based on the sine and cosine values ​​of the rotor position at the current moment, so as to obtain the calibrated current signal in the two-phase rotating coordinate system at the current moment.

[0026] In one embodiment, the formula for calculating the estimated rotor speed of the permanent magnet gyroscope motor at the next moment is:

[0027]

[0028] in, k is an estimated value of the rotor speed of the permanent magnet gyroscope motor at the next moment. p k is the proportional parameter of the PI controller. i s is the integral parameter of the PI controller; s is the complex frequency variable; i d (t) represents the actual value of the d-axis current at the current moment; i is the predicted value of the q-axis current at the current moment; q (t) represents the actual value of the q-axis current at the current moment; ψ is the predicted value of the d-axis current at the current moment. f For rotor flux linkage; L s For stator inductance; This is an estimate of the rotor speed of the permanent magnet gyroscope motor at the initial moment.

[0029] In one embodiment, the formula for calculating the estimated rotor position of the permanent magnet gyroscope motor at the next moment is:

[0030]

[0031] Where, θ f (t+1) is the estimated rotor position of the permanent magnet gyroscope motor at the next moment.

[0032] In one embodiment, the expression for the current control signal at the next moment is:

[0033]

[0034] in, This is the current control signal for the next moment; K pω K is the speed ring proportional coefficient; iω The integral coefficient of the speed loop; This represents the target value of the rotor speed of the permanent magnet gyroscope motor at the next moment.

[0035] In one embodiment, during the operation of the permanent magnet gyroscope motor, switching instructions for different operating stages are generated. Based on these switching instructions, the corresponding operating stages of the permanent magnet gyroscope motor and the FPGA control module are switched. Specifically, this includes:

[0036] When the switching instruction for the current operating phase is the primary current prepositioning instruction, the permanent magnet gyroscope motor switches to the primary current prepositioning phase based on the primary current prepositioning instruction, and the raw data calibration unit, motor rotation conversion unit, current loop controller, third harmonic injection unit and SPWM signal generation unit work.

[0037] When the switching instruction for the current operating phase is the secondary current prepositioning instruction, the permanent magnet gyroscope motor switches to the secondary current prepositioning phase based on the secondary current prepositioning instruction, and the original data calibration unit, motor rotation conversion unit, current loop controller, third harmonic injection unit and SPWM signal generation unit work.

[0038] When the switching instruction for the current operating phase is the open-loop start instruction for the permanent magnet gyroscope motor, the permanent magnet gyroscope motor switches to the open-loop start phase based on the open-loop start instruction. The original data calibration unit, trigonometric function calculation unit, motor rotation conversion unit, current loop controller, third harmonic injection unit and SPWM signal generation unit are working.

[0039] When the switching command for the current operating phase is the permanent magnet gyroscope motor closed-loop acceleration command, the permanent magnet gyroscope motor switches to the permanent magnet gyroscope motor closed-loop acceleration phase based on the permanent magnet gyroscope motor closed-loop acceleration command, and the original data calibration unit, trigonometric function calculation unit, motor rotation conversion unit, current loop controller, third harmonic injection unit, SPWM signal generation unit, sensorless rotor position detection unit and speed loop controller work.

[0040] When the switching command for the current operating phase is the permanent magnet gyroscope motor self-locking frequency stabilization command, based on the permanent magnet gyroscope motor self-locking frequency stabilization command, the permanent magnet gyroscope motor switches to the permanent magnet gyroscope motor self-locking frequency stabilization phase, and the original data calibration unit, trigonometric function calculation unit, motor rotation conversion unit, current loop controller, third harmonic injection unit, SPWM signal generation unit, sensorless rotor position detection unit, and speed loop controller work.

[0041] When the switching command for the current operating phase is the permanent magnet gyroscope motor coasting deceleration command, the permanent magnet gyroscope motor switches to the permanent magnet gyroscope motor coasting deceleration phase based on the permanent magnet gyroscope motor coasting deceleration command. The sensorless rotor position detection unit works to detect the real-time speed of the permanent magnet gyroscope motor deceleration.

[0042] Secondly, this application provides a permanent magnet gyroscope motor control method based on FPGA and DSP. This method is used to implement the aforementioned permanent magnet gyroscope motor control system based on FPGA and DSP. The method includes:

[0043] The permanent magnet gyroscope motor is driven by the current driving signal and the current signal at the motor end is collected.

[0044] The current signal is subjected to differential filtering to obtain the current signal after differential filtering at the current moment;

[0045] During the operation of the permanent magnet gyroscope motor, switching instructions for different operating stages are generated. Based on the switching instructions for different operating stages, the corresponding operating stages of the permanent magnet gyroscope motor and the FPGA control module are switched. The operating stages include: primary current pre-positioning stage, secondary current pre-positioning stage, open-loop start-up stage of permanent magnet gyroscope motor, closed-loop acceleration stage of permanent magnet gyroscope motor, self-locking frequency stabilization stage of permanent magnet gyroscope motor, and coasting deceleration stage of permanent magnet gyroscope motor.

[0046] During the current operation phase, based on the current signal after differential filtering at the current moment, the drive signal and the current control signal for the next moment are generated respectively, and the drive signal and the current control signal for the next moment are sent to the motor drive and signal acquisition module to realize real-time control of the permanent magnet gyroscope motor.

[0047] Thirdly, this application provides a computer device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the aforementioned FPGA and DSP-based permanent magnet gyroscope motor control system.

[0048] According to the specific embodiments provided in this application, this application has the following technical effects:

[0049] This application discloses a permanent magnet gyroscope motor control system, method, and device based on FPGA and DSP. This application deploys all key algorithms, such as signal acquisition, data calibration, sensorless detection algorithm, dual closed-loop regulation of speed and current, third harmonic injection, and SPWM modulation, as embedded logic within the FPGA control module. This enables simultaneous parallel processing of multi-channel data, effectively eliminating the latency accumulation of serial execution. Simultaneously, the DSP control module performs auxiliary tasks such as switching and managing each operating stage. The collaboration between FPGA and DSP ensures both the ultimate performance of the main control operation and the stability and flexibility of the system, ultimately achieving precise real-time control of the high-speed permanent magnet gyroscope motor. Attached Figure Description

[0050] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0051] Figure 1 A block diagram of a permanent magnet gyroscope motor control system based on FPGA and DSP provided in an embodiment of this application;

[0052] Figure 2 A block diagram illustrating the control process for switching between different operating stages of an FPGA control module and a DSP control module, provided in an embodiment of this application;

[0053] Figure 3 A flowchart illustrating a permanent magnet gyroscope motor control method based on FPGA and DSP provided in an embodiment of this application;

[0054] Figure 4 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0055] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0056] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0057] In one exemplary embodiment, such as Figure 1 As shown, a permanent magnet gyroscope motor control system based on FPGA and DSP is provided. The FPGA-based permanent magnet gyroscope motor control system includes: a motor drive and signal acquisition module, a differential filtering module, an FPGA control module, and a DSP control module. The permanent magnet gyroscope motor, the motor drive and signal acquisition module, the differential filtering module, and the FPGA control module are connected sequentially. The FPGA control module is also connected to both the motor drive and signal acquisition module and the DSP control module. Field-Programmable Gate Arrays (FPGAs), with their hardware-level parallel processing capabilities, provide an ideal solution for high-performance motor control.

[0058] The motor drive and signal acquisition module is used to drive the permanent magnet gyroscope motor using the current drive signal and to acquire the current current signal at the motor's terminals. For example, Figure 1 As shown, the motor drive and signal acquisition module includes a linear drive circuit and a signal acquisition circuit; the linear drive circuit includes multiple inverters; the signal acquisition circuit includes a passive filter and a high-precision sampling resistor.

[0059] The differential filtering module is used to perform differential filtering on the current signal at the permanent magnet gyroscope motor terminal at the current moment, obtaining the differentially filtered current signal at the current moment. Specifically, the deviations caused by zero-degree drift and temperature drift are subtracted from the current signal at the permanent magnet gyroscope motor terminal at the current moment, and then multiplied by a calibration coefficient to obtain the differentially filtered current signal at the current moment.

[0060] The DSP control module is used to generate switching instructions for different operating stages during the operation of the permanent magnet gyroscope motor. Based on the switching instructions for different operating stages, the corresponding operating stages of the permanent magnet gyroscope motor and the FPGA control module are switched. The operating stages include: primary current pre-positioning stage, secondary current pre-positioning stage, open-loop start-up stage of permanent magnet gyroscope motor, closed-loop acceleration stage of permanent magnet gyroscope motor, self-locking frequency stabilization stage of permanent magnet gyroscope motor, and coasting deceleration stage of permanent magnet gyroscope motor.

[0061] The FPGA control module is used to generate the drive signal and the current control signal for the next moment based on the differentially filtered current signal at the current moment during the current operation phase. The drive signal and the current control signal for the next moment are then sent to the motor drive and signal acquisition module to realize real-time control of the permanent magnet gyroscope motor.

[0062] As an optional implementation method, such as Figure 1 As shown, the permanent magnet gyroscope motor control system based on FPGA and DSP also includes a digital-to-analog conversion module.

[0063] The digital-to-analog conversion module is connected to the FPGA control module and the motor drive and signal acquisition module respectively, and is used to perform digital-to-analog conversion on the received drive signal and current control signal at the next moment.

[0064] As an optional implementation method, such as Figure 1 As shown, the FPGA control module includes: a raw data calibration unit, a trigonometric function calculation unit, a motor rotation conversion unit, a current loop controller, a third harmonic injection unit, an SPWM signal generation unit, a sensorless rotor position detection unit, and a speed loop controller.

[0065] The raw data calibration unit, trigonometric function calculation unit, motor rotation conversion unit, current loop controller, third harmonic injection unit, and SPWM signal generation unit are connected in sequence. The sensorless rotor position detection unit, speed loop controller, and current loop controller are connected in sequence. The sensorless rotor position detection unit is also connected to the trigonometric function calculation unit.

[0066] The raw data calibration unit is used to calibrate the current signal after differential filtering at the current moment, and obtain the calibrated current signal at the current moment.

[0067] The trigonometric function calculation unit is used to calculate the sine and cosine values ​​of the rotor position at the current moment, based on the rotor position of the permanent magnet gyroscope motor at the current moment.

[0068] The motor rotation conversion unit is used to use a three-phase rotation conversion method to convert the calibrated current signal at the current moment from the three-phase stationary coordinate system to the two-phase rotating coordinate system based on the sine and cosine values ​​of the rotor position at the current moment, so as to obtain the calibrated current signal in the two-phase rotating coordinate system at the current moment.

[0069] Specifically, a three-phase rotational transformation method is used. Based on the sine and cosine values ​​of the rotor position at the current moment, the calibrated current signal at the current moment is transformed from the three-phase stationary coordinate system to the two-phase rotating coordinate system, resulting in the calibrated current signal in the two-phase rotating coordinate system at the current moment. This includes:

[0070] The Clarke transform method is used to transform the calibrated current signal at the current moment from the three-phase stationary coordinate system to the two-phase stationary coordinate system, so as to obtain the calibrated current signal in the two-phase stationary coordinate system at the current moment.

[0071] Specifically, the mathematical model in the three-phase stationary coordinate system can be transformed to the two-phase stationary coordinate system using the Clarke transformation, and the transformation matrix C corresponding to the Clarke transformation is used. 2 / 3 Represented as:

[0072]

[0073] The Park transform method is used to transform the calibrated current signal in the two-phase stationary coordinate system to the two-phase rotating coordinate system based on the sine and cosine values ​​of the rotor position at the current moment, so as to obtain the calibrated current signal in the two-phase rotating coordinate system at the current moment.

[0074] Specifically, the mathematical model in the two-phase stationary coordinate system can be transformed into a two-phase rotating coordinate system using the Park transformation, according to the rotation angle θ. f (i.e., rotor position) is projected onto the dq axis, and the corresponding transformation matrix C is... 2s / 2r Represented as:

[0075]

[0076] The current loop controller is used to output the control duty cycle at the current moment based on the calibrated current signal in the two-phase rotating coordinate system at the current moment.

[0077] The third harmonic injection unit is used to inject a third harmonic into the control duty cycle at the current moment, thus obtaining the control duty cycle after the third harmonic injection. The third harmonic injection method improves voltage utilization.

[0078] The SPWM signal generation unit uses SPWM modulation to generate the drive signal for the next time step based on the control duty cycle after the third harmonic injection at the current time step. This drive signal is then fed into the linear drive circuit.

[0079] The sensorless rotor position detection unit employs a sensorless rotor position detection algorithm. Based on the differentially filtered current signal at the current moment, it identifies the rotor position and rotor speed of the permanent magnet gyroscope motor, obtaining estimates of the rotor position and rotor speed at the next moment. This estimated rotor position is then sent to the trigonometric function calculation unit to update the sine and cosine values ​​of the current rotor position. In other words, the identified rotor speed estimate serves as a feedback signal to the speed loop, generating a current control signal through the speed loop PI controller. The identified rotor position estimate is used to update the angle information during the three-phase rotation of the motor, thus participating in the overall control.

[0080] The formula for calculating the estimated rotor speed of the permanent magnet gyroscope motor at the next moment is as follows:

[0081]

[0082] in, k is an estimated value of the rotor speed of the permanent magnet gyroscope motor at the next moment. p k is the proportional parameter of the PI controller. i For the integral parameters of the PI controller; s is; i d (t) represents the actual value of the d-axis current at the current moment; i is the predicted value of the q-axis current at the current moment; q (t) represents the actual value of the q-axis current at the current moment; ψ is the predicted value of the d-axis current at the current moment. f For rotor flux linkage; L s For stator inductance; This is an estimate of the rotor speed of the permanent magnet gyroscope motor at the initial moment.

[0083] The formula for calculating the estimated rotor position of the permanent magnet gyroscope motor at the next moment is as follows:

[0084]

[0085] Where, θ f (t+1) is the estimated rotor position of the permanent magnet gyroscope motor at the next moment.

[0086] The speed loop controller is used to generate the current control signal for the next moment based on the estimated rotor speed of the permanent magnet gyroscope motor at the next moment.

[0087] The expression for the current control signal at the next moment is:

[0088]

[0089] in, This is the current control signal for the next moment; K pω K is the speed ring proportional coefficient; iω The integral coefficient of the speed loop; This represents the target value of the rotor speed of the permanent magnet gyroscope motor at the next moment.

[0090] As an optional implementation method, such as Figure 2 As shown, during the operation of the permanent magnet gyroscope motor, switching commands for different operating stages are generated. Based on these switching commands, the corresponding operating stages of the permanent magnet gyroscope motor and the FPGA control module are switched. Specifically, this includes:

[0091] When the switching instruction for the current operating phase is the primary current prepositioning instruction Flag_PrePosition1, the permanent magnet gyroscope motor switches to the primary current prepositioning phase based on Flag_PrePosition1. The raw data calibration unit, motor rotation conversion unit, current loop controller, third harmonic injection unit, and SPWM signal generation unit then begin operation. At this time, after the FPGA control module receives the switching instruction Flag_PrePosition1 from the DSP control module via the DSP communication module, the corresponding units within the FPGA control module begin operating.

[0092] When the switching instruction for the current operating phase is the secondary current prepositioning instruction Flag_PrePosition2, the permanent magnet gyroscope motor switches to the secondary current prepositioning phase based on the secondary current prepositioning instruction Flag_PrePosition2. The original data calibration unit, motor rotation conversion unit, current loop controller, third harmonic injection unit, and SPWM signal generation unit start working. At this time, after the FPGA control module receives the switching instruction Flag_PrePosition2 issued by the DSP control module through the DSP communication module, the corresponding units in the FPGA control module start working.

[0093] When the switching instruction for the current operating phase is the permanent magnet gyroscope motor open-loop start instruction Flag_OpenLoop, the permanent magnet gyroscope motor switches to the permanent magnet gyroscope motor open-loop start phase based on the permanent magnet gyroscope motor open-loop start instruction Flag_OpenLoop. The original data calibration unit, trigonometric function calculation unit, motor rotation conversion unit, current loop controller, third harmonic injection unit, and SPWM signal generation unit work. At this time, after the FPGA control module receives the switching instruction Flag_OpenLoop issued by the DSP control module through the DSP communication module, the corresponding units in the FPGA control module start working.

[0094] When the switching instruction for the current operating phase is the permanent magnet gyroscope motor closed-loop acceleration instruction Flag_Sensorless, the permanent magnet gyroscope motor switches to the permanent magnet gyroscope motor closed-loop acceleration phase based on the permanent magnet gyroscope motor closed-loop acceleration instruction Flag_Sensorless. The original data calibration unit, trigonometric function calculation unit, motor rotation conversion unit, current loop controller, third harmonic injection unit, SPWM signal generation unit, sensorless rotor position detection unit, and speed loop controller work. At this time, after the FPGA control module receives the switching instruction Flag_Sensorless issued by the DSP control module through the DSP communication module, the corresponding units in the FPGA control module start working.

[0095] When the switching instruction for the current operating phase is the permanent magnet gyroscope motor self-locking frequency stabilization instruction Flag_Frequency_Locking, the permanent magnet gyroscope motor switches to the permanent magnet gyroscope motor self-locking frequency stabilization phase based on the Flag_Frequency_Locking instruction. The original data calibration unit, trigonometric function calculation unit, motor rotation conversion unit, current loop controller, third harmonic injection unit, SPWM signal generation unit, sensorless rotor position detection unit, and speed loop controller then begin to operate. At this time, after the FPGA control module receives the switching instruction Flag_Frequency_Locking from the DSP control module through the DSP communication module, the corresponding units within the FPGA control module begin to operate.

[0096] When the switching command for the current operating phase is the permanent magnet gyroscope motor coasting deceleration command Flag_Power_Down, based on the Flag_Power_Down command, the permanent magnet gyroscope motor switches to the coasting deceleration phase. The sensorless rotor position detection unit then operates to detect the real-time deceleration speed of the permanent magnet gyroscope motor. At this time, after the FPGA control module receives the Flag_Power_Down switching command from the DSP control module via the DSP communication module, all units within the FPGA control module cease operation, except for the sensorless rotor position detection unit.

[0097] The mutual information exchange between the DSP control module and the FPGA control module includes the FPGA control module sending a 50kHz interrupt signal to the DSP control module; high-speed read / write signal communication between the DSP control module and the FPGA control module through the address bus and data bus; and the DSP control module sending control commands to the FPGA control module.

[0098] The FPGA control module uses a high-stability crystal oscillator for frequency division and multiplication to generate a high-stability clock signal; reads the analog-to-digital converter chip; communicates with the DSP control module; calculates the rotor position detection algorithm without position sensors; calculates the speed loop PI; calculates the current loop PI; generates sine and cosine values; injects the third harmonic; and generates the SPWM wave.

[0099] Based on the same inventive concept, this application also provides an FPGA and DSP-based permanent magnet gyroscope motor control method for implementing the aforementioned FPGA and DSP-based permanent magnet gyroscope motor control system. The solution provided by this method is similar to the implementation scheme described in the above system. Therefore, the specific limitations in one or more FPGA and DSP-based permanent magnet gyroscope motor control method embodiments provided below can be found in the limitations of the FPGA and DSP-based permanent magnet gyroscope motor control system described above, and will not be repeated here.

[0100] In one exemplary embodiment, such as Figure 3 As shown, a control method for a permanent magnet gyroscope motor based on FPGA and DSP is provided, including:

[0101] Step S1: Drive the permanent magnet gyroscope motor using the current driving signal and collect the current signal at the permanent magnet gyroscope motor terminal.

[0102] Step S2: Perform differential filtering on the current signal to obtain the differentially filtered current signal at the current moment.

[0103] Step S3: During the operation of the permanent magnet gyroscope motor, a switching instruction for different operating stages is generated. Based on the switching instruction for different operating stages, the corresponding operating stages of the permanent magnet gyroscope motor and the FPGA control module are switched. The operating stages include: primary current pre-positioning stage, secondary current pre-positioning stage, open-loop start-up stage of the permanent magnet gyroscope motor, closed-loop acceleration stage of the permanent magnet gyroscope motor, self-locking frequency stabilization stage of the permanent magnet gyroscope motor, and coasting deceleration stage of the permanent magnet gyroscope motor.

[0104] Step S4: In the current operating phase, based on the current signal after differential filtering at the current moment, the drive signal and the current control signal for the next moment are generated respectively, and the drive signal and the current control signal for the next moment are sent to the motor drive and signal acquisition module to realize real-time control of the permanent magnet gyroscope motor.

[0105] This application deploys all key algorithms, including signal acquisition, high-speed communication bridging, data calibration, sensorless detection algorithm, dual closed-loop regulation of speed and current, third harmonic injection, and SPWM modulation, as embedded logic within the FPGA control module. This enables simultaneous parallel processing of multi-channel data, effectively eliminating the latency accumulation of serial execution. Simultaneously, the DSP control module performs auxiliary tasks such as switching and managing each operational stage. This collaboration ensures both the ultimate performance of the main control operation and the stability and flexibility of the system, ultimately achieving precise real-time control of the high-speed permanent magnet gyroscope motor.

[0106] In one exemplary embodiment, a computer device is provided, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement a permanent magnet gyroscope motor control system based on FPGA and DSP.

[0107] In one exemplary embodiment, a computer device is provided, which may be a server or a terminal, and its internal structure diagram may be as follows. Figure 4 As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and databases. The internal memory provides the environment for the operating system and computer programs stored in the non-volatile storage media to run. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network connection. When the computer program is executed by the processor, it implements a permanent magnet gyroscope motor control system based on FPGA and DSP.

[0108] Those skilled in the art will understand that Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0109] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0110] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

[0111] The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0112] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0113] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the system, method, and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A permanent magnet gyro motor control system based on FPGA and DSP, characterized in that, The FPGA and DSP based permanent magnet gyro motor control system comprises a motor driving and signal collecting module, a differential filtering processing module, an FPGA control module and a DSP control module; the permanent magnet gyro motor, the motor driving and signal collecting module, the differential filtering processing module and the FPGA control module are connected in sequence, and the FPGA control module is further connected with the motor driving and signal collecting module and the DSP control module respectively; The motor driving and signal collecting module is configured to drive the permanent magnet gyro motor to run by using the driving signal at the current time and collect the current current signal at the permanent magnet gyro motor end; The differential filtering processing module is configured to perform differential filtering processing on the current current signal at the permanent magnet gyro motor end to obtain the current current signal after differential filtering processing; The DSP control module is configured to generate switching instructions of different running stages during the running of the permanent magnet gyro motor, and realize switching of corresponding running stages of the permanent magnet gyro motor and the FPGA control module based on the switching instructions of different running stages; the running stages comprise a first current pre-positioning stage, a second current pre-positioning stage, a permanent magnet gyro motor open-loop starting stage, a permanent magnet gyro motor closed-loop acceleration stage, a permanent magnet gyro motor self-locking frequency stabilizing speed stage and a permanent magnet gyro motor coasting deceleration stage; The FPGA control module is configured to generate the driving signal at the next time and the current control signal at the next time based on the current current signal after differential filtering processing at the current running stage, and send the driving signal at the next time and the current control signal at the next time to the motor driving and signal collecting module to realize real-time control of the permanent magnet gyro motor.

2. The FPGA and DSP based permanent magnet gyro motor control system according to claim 1, wherein, The FPGA and DSP based permanent magnet gyro motor control system further comprises a digital-to-analog conversion module; The digital-to-analog conversion module is connected with the FPGA control module and the motor driving and signal collecting module respectively, and is configured to perform digital-to-analog conversion on the received driving signal at the next time and the current control signal at the next time respectively.

3. The FPGA and DSP based permanent magnet gyro motor control system of claim 2, wherein, The FPGA control module comprises an original data calibration unit, a trigonometric function calculation unit, a motor rotation conversion unit, a current loop controller, a third harmonic injection unit, an SPWM signal generation unit, a position sensorless rotor position detection unit and a speed loop controller; The original data calibration unit, the trigonometric function calculation unit, the motor rotation conversion unit, the current loop controller, the third harmonic injection unit and the SPWM signal generation unit are connected in sequence, the position sensorless rotor position detection unit, the speed loop controller and the current loop controller are connected in sequence, and the position sensorless rotor position detection unit is further connected with the trigonometric function calculation unit; The original data calibration unit is configured to calibrate the current current signal after differential filtering processing to obtain the current current signal after calibration; The trigonometric function calculation unit is configured to calculate the sine value and the cosine value of the rotor position at the current time based on the rotor position of the permanent magnet gyro motor at the current time; The motor rotation conversion unit is configured to convert the calibrated current signal at the current moment from the three-phase static coordinate system to the two-phase rotating coordinate system based on the sine value and the cosine value of the rotor position at the current moment by using a three-phase rotation conversion method, to obtain the calibrated current signal at the current moment in the two-phase rotating coordinate system. The current loop controller is configured to output the control duty ratio at the current moment based on the calibrated current signal at the current moment in the two-phase rotating coordinate system. The third harmonic injection unit is configured to inject the third harmonic into the control duty ratio at the current moment, to obtain the third harmonic injected control duty ratio at the current moment. The SPWM signal generation unit is configured to generate the driving signal at the next moment based on the third harmonic injected control duty ratio at the current moment by using the SPWM modulation method. The position sensorless rotor position detection unit is configured to identify the rotor position and the rotor speed of the permanent magnet gyro motor at the current moment based on the differential filtered current signal at the current moment by using a position sensorless rotor position detection algorithm, to obtain the estimated value of the rotor position of the permanent magnet gyro motor at the next moment and the estimated value of the rotor speed of the permanent magnet gyro motor at the next moment, and to send the estimated value of the rotor position of the permanent magnet gyro motor at the next moment to the trigonometric function calculation unit to update the sine value and the cosine value of the rotor position at the current moment. The speed loop controller is configured to generate the current control signal at the next moment based on the estimated value of the rotor speed of the permanent magnet gyro motor at the next moment.

4. The FPGA and DSP based permanent magnet gyro motor control system of claim 3, wherein, The motor rotation conversion unit is configured to convert the calibrated current signal at the current moment from the three-phase static coordinate system to the two-phase rotating coordinate system based on the sine value and the cosine value of the rotor position at the current moment by using a three-phase rotation conversion method, to obtain the calibrated current signal at the current moment in the two-phase rotating coordinate system. The Clarke conversion method is used to convert the calibrated current signal at the current moment from the three-phase static coordinate system to the two-phase static coordinate system, to obtain the calibrated current signal at the current moment in the two-phase static coordinate system. The Park conversion method is used to convert the calibrated current signal at the current moment in the two-phase static coordinate system to the two-phase rotating coordinate system based on the sine value and the cosine value of the rotor position at the current moment, to obtain the calibrated current signal at the current moment in the two-phase rotating coordinate system.

5. The FPGA and DSP based permanent magnet gyro motor control system of claim 4, wherein, The estimated value of the rotor speed of the permanent magnet gyro motor at the next moment is calculated according to the following formula: wherein is an estimated value of the rotor speed of the permanent magnet gyro motor at the next time instant; k p is a proportional parameter of the PI controller; k i is an integral parameter of the PI controller; s is a complex frequency variable; i d (t) is an actual value of the d-axis current at the current time instant; is a predicted value of the d-axis current at the current time instant; i q (t) is an actual value of the q-axis current at the current time instant; is a predicted value of the q-axis current at the current time instant; ψ f is a rotor flux; L s is a stator inductance; is an estimated value of the rotor speed of the permanent magnet gyro motor at the initial time instant.

6. The FPGA and DSP based permanent magnet gyro motor control system of claim 5, wherein, The estimated value of the rotor position of the permanent magnet gyro motor at the next moment is calculated according to the following formula: where θ f (t+1) is the estimate of the rotor position of the permanent magnet gyro motor at the next time instant.

7. The FPGA and DSP based permanent magnet gyro motor control system of claim 6, wherein, The expression of the current control signal at the next moment is as follows: wherein, is the current control signal for the next instant; K pω is the speed loop proportional coefficient; K iω is the speed loop integral coefficient; is the target value of the rotor speed of the permanent magnet gyro motor at the next instant.

8. The FPGA and DSP based permanent magnet gyro motor control system of claim 7, wherein, During the operation of the permanent magnet gyro motor, switching instructions for different operation stages are generated, and the switching of the corresponding operation stages of the permanent magnet gyro motor and the FPGA control module is realized based on the switching instructions for different operation stages, which specifically includes: When the switching instruction of the current operation stage is the first current positioning instruction, the permanent magnet gyro motor switches to the first current positioning stage based on the first current positioning instruction, and the original data calibration unit, the motor rotation conversion unit, the current loop controller, the third harmonic injection unit, and the SPWM signal generation unit work. When the switching instruction of the current running stage is the secondary current pre-positioning instruction, the permanent magnet gyro motor switches to the secondary current pre-positioning stage based on the secondary current pre-positioning instruction, and the raw data calibration unit, the motor rotation conversion unit, the current loop controller, the third harmonic injection unit and the SPWM signal generation unit work; When the switching instruction of the current running stage is the permanent magnet gyro motor open-loop starting instruction, the permanent magnet gyro motor switches to the permanent magnet gyro motor open-loop starting stage based on the permanent magnet gyro motor open-loop starting instruction, and the raw data calibration unit, the trigonometric function calculation unit, the motor rotation conversion unit, the current loop controller, the third harmonic injection unit and the SPWM signal generation unit work; When the switching instruction of the current running stage is the permanent magnet gyro motor closed-loop acceleration instruction, the permanent magnet gyro motor switches to the permanent magnet gyro motor closed-loop acceleration stage based on the permanent magnet gyro motor closed-loop acceleration instruction, and the raw data calibration unit, the trigonometric function calculation unit, the motor rotation conversion unit, the current loop controller, the third harmonic injection unit, the SPWM signal generation unit, the position sensorless rotor position detection unit and the speed loop controller work; When the switching instruction of the current running stage is the permanent magnet gyro motor self-locking frequency stable speed instruction, the permanent magnet gyro motor switches to the permanent magnet gyro motor self-locking frequency stable speed stage based on the permanent magnet gyro motor self-locking frequency stable speed instruction, and the raw data calibration unit, the trigonometric function calculation unit, the motor rotation conversion unit, the current loop controller, the third harmonic injection unit, the SPWM signal generation unit, the position sensorless rotor position detection unit and the speed loop controller work; When the switching instruction of the current running stage is the permanent magnet gyro motor coasting deceleration instruction, the permanent magnet gyro motor switches to the permanent magnet gyro motor coasting deceleration stage based on the permanent magnet gyro motor coasting deceleration instruction, and the position sensorless rotor position detection unit works to detect the real-time speed of the permanent magnet gyro motor during deceleration.

9. A method for controlling a permanent magnet gyro motor based on FPGA and DSP, characterized in that, The permanent magnet gyro motor control method based on FPGA and DSP is used for realizing the permanent magnet gyro motor control system based on FPGA and DSP in any one of claims 1-8, and the permanent magnet gyro motor control method based on FPGA and DSP comprises: driving the permanent magnet gyro motor to run by using the driving signal at the current time, and collecting the current signal of the permanent magnet gyro motor at the current time; performing differential filtering processing on the current signal to obtain the current signal after differential filtering processing; generating switching instructions of different running stages during the running of the permanent magnet gyro motor, and switching the permanent magnet gyro motor and the FPGA control module to the corresponding running stages based on the switching instructions of different running stages; the running stages include a primary current pre-positioning stage, a secondary current pre-positioning stage, a permanent magnet gyro motor open-loop starting stage, a permanent magnet gyro motor closed-loop acceleration stage, a permanent magnet gyro motor self-locking frequency stable speed stage and a permanent magnet gyro motor coasting deceleration stage; In the current running stage, the driving signal of the next moment and the current control signal of the next moment are respectively generated based on the current moment differential filtering processed current signal, and the driving signal of the next moment and the current control signal of the next moment are sent to the motor driving and signal collecting module, so as to realize real-time control of the permanent magnet gyro motor.

10. A computer device comprising: The memory, the processor and the computer program stored in the memory and executable on the processor, characterized in that the processor executes the computer program to realize the permanent magnet gyro motor control system based on FPGA and DSP in any one of claims 1-8.

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