基于DSP和FPGA的交流伺服系统研究.docVIP

基于DSP和FPGA的交流伺服系统研究 摘 要 随着电力电子技术和微处理器技术的发展，交流伺服系统已经广泛应用于数控机床、家用电器等多种工业产品中。而交流永磁同步电机(PMSM)由于高转矩、低损耗、脉动小、电气时间常数小等物理特点，使其成为高精数控加工的最佳执行机构。开发一个基于交流永磁伺服电机的高精度，快响应、强稳定性的伺服系统有着十分重要的实际意义。 本文首先对交流伺服系统的基本概况做了阐述，推导了永磁同步电机的数学模型，介绍了电压空间矢量的控制方法，设计了三闭环控制系统，给出了位置环、速度环和电流环控制器的设计方法，其中对位置环和速度环采用了鲁棒性很强的滑模变结构控制方法，对电流环采用了经典的PI控制，通过MATBAL仿真验证了此控制系统的可行性。在硬件结构上采用IPM＋DSP＋FPGA结构，其中IPM功率模块完成功率驱动，DSP完成控制算法和通讯，FPGA完成对霍尔信号的检测、码盘信号的读取、键盘的扫描、显示器的动态刷新、保护信号的处理等功能。此结构使DSP和FPGA充分发挥各自的优势，同时在性能上还弥补了各自的不足，节约了大量时间和资源，提高了系统的性能。最后对整个系统的软件做了介绍，给出了主要部分的流程图及部分代码。 关键字：交流伺服；PMSM；DSP；FPGA；SVPWM；滑模变结构控制；PI Reseach of AC Servo System based on DSP And FPGA Abstract With the rapid development of the AC servo technology which based on power electronics technology and microprocessor technology, the AC servo system has been appliced in CNC machine tools, household appliances and many other industrial products widely. PMSM (Permanent Magnet Synchronous Motor) has many good characteristics such as high torque, low wastage, low pulse, low electric time constant and etc, which make PMSM become the best implement in high precise CNC. Herefore, it is of practical significance to develop high accuracy, fast response and strong stability servo control system. First of all, the general situation about AC servo technology is given. On the base of introducing the mathematics model of PMSM, SVPWM method is put forward. Secondly the paper degigns a three close loop contol system, giving the designing details in position loop controller, speed loop and the circuit loop. The position loop and the speed loop take the sliding mode variable control method which has high robustness and the circuit loop takes the classical PI control method. According to the result of simulation by MATBAL, the system is feasible.Then the paper introduces the hardware system based on IPM+DSP+FPGA. IPM module accomplishes power diver. DSP finishes the works including AC servo control algorithm and the communication. FPGA achieves the purposes including det