基于APSoC冗余智能控制驱动平台研制

Development of Redundant Intelligent Control Driving Platform based on APSoC

针对三冗余机电静压伺服系统的研制需求,设计了基于双核全可编程片上系统(All Programmable System on Chip,APSoC)技术的多总线三冗余伺服控制驱动器。通过数字总线实现子控制驱动模块之间信息共享,采用IP核技术实现硬件加速、多电机高速并行控制;通过试验验证多电机控制的同步性能和测量细节全还原技术;采用多种温度、压力传感器、过流保护电路等构建伺服系统健康网络体系,结合余度表决和故障切除逻辑搭建了三冗余控制驱动平台,对多任务的不同实时性需求分配任务等级,双核协同工作,研制的产品实物通过了系统验证。

According to the development requirements of the three redundant electro-hydrostatic servo system,a three redundant servo control driver with multi bus based on the dual core APSoC technology is designed.The information sharing between the sub control drive modules is realized by the digital bus,the high-speed parallel control of multi motors is realized by the hardware acceleration technology in IP core.The synchronization of the multi motors and full details reduction technology is verified by testing.A three redundancy control driving platform with health network system is built,which relies on redundancy voting and fault removal logic.The dual cores work collaborative by assigning priority for multi tasks of different real-time requirements.The product is developed,and it is passed verification in system.