CAJ | 학술논문

针对数字伺服控制算法及片上系统集成技术的问题,依据矢量控制和伺服系统设计理论,建立了磁场定向矢量控制器、速度控制器和位置控制器等高性能IP核模型,开发了坐标变换、速度测量、SVPWM、反时限保护、PID调节器、电子齿轮、前馈控制及滤波器等关键算法模块,详细规划了各模块的调度时序.在此基础上,进一步集成了RISC微处理器模块,并采用时分复用设计方法,在FPGA工艺平台中最终实现了多轴伺服控制器片上系统.实验结果表明,该芯片能够接收脉冲命令、模拟命令或数字命令,既可以工作在位置控制模式,也可以配置为速度伺服或力矩驱动模式,每个轴的运行是相对独立的,并且控制参数在线可编程.
침대수자사복공제산법급편상계통집성기술적문제,의거시량공제화사복계통설계이론,건립료자장정향시량공제기、속도공제기화위치공제기등고성능IP핵모형,개발료좌표변환、속도측량、SVPWM、반시한보호、PID조절기、전자치륜、전궤공제급려파기등관건산법모괴,상세규화료각모괴적조도시서.재차기출상,진일보집성료RISC미처리기모괴,병채용시분복용설계방법,재FPGA공예평태중최종실현료다축사복공제기편상계통.실험결과표명,해심편능구접수맥충명령、모의명령혹수자명령,기가이공작재위치공제모식,야가이배치위속도사복혹력구구동모식,매개축적운행시상대독립적,병차공제삼수재선가편정.
The digital control algorithms and design techniques of multi-axis servo system-on-chip integration are investigated in this paper. On the basis of vector control and servo system design principle, high efficiency IP cores of FOC and servo controllers were created, including coordinate transformation, velocity measurement, SVPWM, inverse-time protection, PID regulator, electronic gear, feed-forward controller, filters, etc. In addition, the timing controller was developed via reasonable scheduling of these algorithm cells. According to the idea of time-division multiplex, the high-powered SoC of multi-axis servo controller was finally implemented on an advanced FPGA platform, incorporating with various IP modules as well as a RISC microprocessor. Experimental results show that the designed single-chip system can receive analog or digital command, or pulse-type instruction, with configuration of different operation mode for torque, speed or position control;furthermore, each axis is independent of the others, and all parameters are programmable on line.