基于DSP和FPGA的望远镜伺服控制系统设计

针对交流永磁同步电机驱动的大型望远镜的高精度、低速平稳运行问题，研制了一套基于浮点数字信号处理器（DSP）和现场可编程逻辑门阵列（FPGA）的驱动控制器。该控制器以DSP 作为主控制器，FPGA 作为协控制器，主控制器完成控制算法、接受指令等功能，协控制器实现PWM 产生、电流采集、速度检测等功能。根据永磁同步电机矢量控制原理建立了永磁同步电机的数学模型，进行了永磁同步电机控制器的硬件设计；在硬件设计的基础上，采用自适应PI 对望远镜的低速控制性能进行了研究。实验结果表明:当望远镜以32.4 （）/s 匀速运行时，速度波动范围为0.648 （）/s；当对望远镜做最大速度为1（）/s，最大加速度为1（）/s2 的正弦引导时，最大引导误差为9.72 ，引导误差RMS 值为3.24 ；该驱动控制系统能够实现望远镜的低速平稳运行，满足大型望远镜伺服控制系统的性能要求。

Design of telescope servo system based on DSP and FPGA

A digital controller based on digital signal processor (DSP) and field programmable gate array (FPGA) was designed to solve the problem of high precision and low velocity of large telescope ac servo system drove by permanent magnet synchronous motor (PMSM). A DSP was used as primary controller to perform the function such as computing control algorithm and receiving instructions. A FPGA was used as secondary controller to achieve the function such as PWM generation, current sampling and speed acquisition. Mathematic model of PMSM was found based on vector control, and hardware of PMSM digital controller was designed. The large telescope table was tested at low speed through employing adaptive PI controller after completing the controller hardware design. The experiment results demonstrate that when the large telescope table run at 32.4 ()/s, the range of velocity fluctuation is 0.648 ()/s; when the large telescope run in the mode of sine guide, which is with the maximum velocity 1 ()/s and maximum acceleration 1 ()/s2. The maximum guide error is 9.72 , and the value of RMS error is 3.24. The drive control system can realize high precision control of large telescope and meet the need of system performance.