摘要
针对通用交流伺服控制器对电机类型、负载性质和运行参数可配置等要求,从系统结构和软件实现两方面进行分析;根据控制器各部分实时性和通用性的不同要求,提出一种将闭环计算和闭环配置分别实现的方案。闭环计算采用现场可编程门阵列(FPGA)以硬件方式完成,闭环配置在数字信号处理器(DSP)上实现,同时采用嵌入式操作系统完成对控制器的管理。软件实现采用多任务设计方法,提出了外部接口、闭环相关配置、电机起停、数据分析和报警等通用任务模型,并详细说明了各模型的设计和实现过程。实际运行表明,该设计不仅具有控制带宽高和响应速度快等特点,而且极大地提高了系统灵活性和扩展性。
In order to solve the adaptability of universal AC servo controller to different motor type, load character and configure parameters, the controller organization and software structure are analyzed, and the design is presented that closed-loop calculation and configuration are implemented separately according to their different requirements of real-time response and flexibility. The calculation part is achieved in FPGA and the configuration part is done in DSP. In addition the system software is accomplished in multitask mode based on RTOS. The software is composed of several universal several task models including interface, loop configuration, motor start and stop, data processing and system alarm. The design process of each model is discussed. The experiment results show the excellent performance with high bandwidth and quick response. Furthermore the system flexibility and expandability are improved dramatically.
出处
《中国电机工程学报》
EI
CSCD
北大核心
2007年第18期55-60,共6页
Proceedings of the CSEE
