基于FPGA和DSP的高性能伺服控制器设计

针对高性能伺服控制器对复杂的控制算法以及较小延时的需求,研究了一种基于FPGA和DSP的高性能伺服控制器设计方法。FPGA完成电流环、坐标变换、空间脉宽矢量调制、电流位置读取,DSP则负责速度环、位置环和上位机通信,使系统既能实现复杂的控制算法,又能将延时控制到最小,从而保证控制器的最佳性能。此外,详细介绍了两者之间的通信方式以及三环控制器设计。试验数据结果表明,伺服控制器速度环带宽能达到100 Hz,额定转速下稳速精度在1 r/min以内,定位精度能达到0.02°,证实了该控制器结构的实效性。

Design of High Performance Servo Controller Based on FPGA and DSP

In order to realize the complex control algorithm and the small delay demand for the high performance servo controller, a design method of high performance servo controller based on FPGA and DSP was studied. The FPGA completes the current loop, coordinate transformation, SVPWM and reading current and position. DSP was responsible for the communication between speed loop, position loop and host computer. Thus system could realize complex control algorithm and reduce delay to the minimum, so as to ensure the best performance of the controller. In addition, the communication mode between the two chips and the design of the three loops controller were also introduced in detail. The final experimental data showed that the speed loop bandwidth of the servo controller can reach 100 Hz, and the steady speed accuracy was within 1 r/min under the rated speed, and the positioning accuracy can reach 0.02 degrees, which confirms the effectiveness of the controller structure.