基于FPGA的多电机控制平台的设计与实现

发布时间：2018-10-10 14:33

【摘要】：高性能的多电机控制是自动传动系统研发的重点内容之一,而多电机系统因其所具有的复杂性、差异性、互扰性等特征,使得目前以单片机(MCU)和数字信号处理器(DSP)为核心的控制器因其自身的结构特点已不能满足多电机系统控制的各种需求。而FPGA是一种现场可编程逻辑门阵列芯片,其具备实时并行处理、设计可重构、流程直观等优点,不仅能快速实现复杂的控制算法,而且同时控制多台电机,并可根据实际情况重构出SVPWM接口实现多电机控制系统平台。因此本文设计基于FPGA的多电机控制平台以驱动多台电机,满足控制系统要求。本文首先介绍了永磁同步电机的结构和数学模型,研究了矢量控制与空间电压矢量SVPWM技术。在此基础上,建立了永磁同步电机的恒转矩角矢量控制系统。此外,介绍了多电机协调控制的方法与交叉耦合控制原理,并利用simulink搭建了双电机协调控制模型,随后在FPGA芯片上,利用硬件描述语言(Verilog HDL)实现单电机矢量控制系统。该控制系统主要使用CORDIC-FPGA算法与循环除法运算实现矢量控制、空间电压矢量调制(SVPWM)、PI控制、ADC接口等功能模块,并通过Modelsim软件对各功能模块进行功能与时序仿真,验证了其可行性;再者利用C++的可视化库Qt和交叉耦合协调算法构建协调控制平台,并设计人机交互界面,将协调后的转速指令通过UART接口发送到FPGA上,协调电机同步运行,以实现多电机的交叉耦合协调控制;最后,基于上述方案搭建了双电机控制系统平台,并在该平台上进行各种系统性能的测试实验。结果表明,本文提出的基于FPGA的多电机控制系统具有良好的动态特性。可预见,本文的研究工作对多伺服驱动领域的应用具有一定的实用价值。
[Abstract]:The high performance multi-motor control is one of the key contents in the research and development of the automatic transmission system, and the multi-motor system is characterized by its complexity, diversity, mutual disturbance, and so on. At present, the controller based on MCU (MCU) and digital signal processor (DSP) can not meet the needs of multi-motor system control because of its own structural characteristics. FPGA is a kind of field programmable logic gate array chip, which has the advantages of real-time parallel processing, reconfigurable design and intuitive flow. It can not only realize complex control algorithm but also control multiple motors at the same time. According to the actual situation, the SVPWM interface can be reconstructed to realize the multi-motor control system platform. Therefore, this paper designs a multi-motor control platform based on FPGA to drive multiple motors to meet the requirements of the control system. In this paper, the structure and mathematical model of permanent magnet synchronous motor (PMSM) are introduced, and vector control and space voltage vector SVPWM technology are studied. On this basis, the constant torque angle vector control system of permanent magnet synchronous motor is established. In addition, the method of multi-motor coordinated control and the principle of cross-coupling control are introduced, and the coordination control model of double-motor is built by using simulink. Then, the single motor vector control system is realized on FPGA chip by using the hardware description language (Verilog HDL). The control system mainly uses CORDIC-FPGA algorithm and cyclic division operation to realize vector control, space voltage vector modulation (SVPWM), PI control, ADC interface and other functional modules. The function and timing of each module is simulated by Modelsim software, which verifies its feasibility. Furthermore, the coordinated control platform is constructed by using C visual library Qt and cross-coupling coordination algorithm, and the man-machine interface is designed. The coordinated rotational speed instructions are sent to the FPGA through the UART interface to coordinate the synchronous operation of the motor. Finally, based on the above scheme, a dual motor control system platform is built, and various system performance tests are carried out on the platform. The results show that the proposed multi-motor control system based on FPGA has good dynamic characteristics. It can be predicted that the research work in this paper has certain practical value for the application of multi-servo drive field.
【学位授予单位】：长安大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273;TM341

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