【摘要】：高性能的多電機(jī)控制是自動(dòng)傳動(dòng)系統(tǒng)研發(fā)的重點(diǎn)內(nèi)容之一,而多電機(jī)系統(tǒng)因其所具有的復(fù)雜性、差異性、互擾性等特征,使得目前以單片機(jī)(MCU)和數(shù)字信號(hào)處理器(DSP)為核心的控制器因其自身的結(jié)構(gòu)特點(diǎn)已不能滿(mǎn)足多電機(jī)系統(tǒng)控制的各種需求。而FPGA是一種現(xiàn)場(chǎng)可編程邏輯門(mén)陣列芯片,其具備實(shí)時(shí)并行處理、設(shè)計(jì)可重構(gòu)、流程直觀等優(yōu)點(diǎn),不僅能快速實(shí)現(xiàn)復(fù)雜的控制算法,而且同時(shí)控制多臺(tái)電機(jī),并可根據(jù)實(shí)際情況重構(gòu)出SVPWM接口實(shí)現(xiàn)多電機(jī)控制系統(tǒng)平臺(tái)。因此本文設(shè)計(jì)基于FPGA的多電機(jī)控制平臺(tái)以驅(qū)動(dòng)多臺(tái)電機(jī),滿(mǎn)足控制系統(tǒng)要求。本文首先介紹了永磁同步電機(jī)的結(jié)構(gòu)和數(shù)學(xué)模型,研究了矢量控制與空間電壓矢量SVPWM技術(shù)。在此基礎(chǔ)上,建立了永磁同步電機(jī)的恒轉(zhuǎn)矩角矢量控制系統(tǒng)。此外,介紹了多電機(jī)協(xié)調(diào)控制的方法與交叉耦合控制原理,并利用simulink搭建了雙電機(jī)協(xié)調(diào)控制模型,隨后在FPGA芯片上,利用硬件描述語(yǔ)言(Verilog HDL)實(shí)現(xiàn)單電機(jī)矢量控制系統(tǒng)。該控制系統(tǒng)主要使用CORDIC-FPGA算法與循環(huán)除法運(yùn)算實(shí)現(xiàn)矢量控制、空間電壓矢量調(diào)制(SVPWM)、PI控制、ADC接口等功能模塊,并通過(guò)Modelsim軟件對(duì)各功能模塊進(jìn)行功能與時(shí)序仿真,驗(yàn)證了其可行性;再者利用C++的可視化庫(kù)Qt和交叉耦合協(xié)調(diào)算法構(gòu)建協(xié)調(diào)控制平臺(tái),并設(shè)計(jì)人機(jī)交互界面,將協(xié)調(diào)后的轉(zhuǎn)速指令通過(guò)UART接口發(fā)送到FPGA上,協(xié)調(diào)電機(jī)同步運(yùn)行,以實(shí)現(xiàn)多電機(jī)的交叉耦合協(xié)調(diào)控制;最后,基于上述方案搭建了雙電機(jī)控制系統(tǒng)平臺(tái),并在該平臺(tái)上進(jìn)行各種系統(tǒng)性能的測(cè)試實(shí)驗(yàn)。結(jié)果表明,本文提出的基于FPGA的多電機(jī)控制系統(tǒng)具有良好的動(dòng)態(tài)特性。可預(yù)見(jiàn),本文的研究工作對(duì)多伺服驅(qū)動(dòng)領(lǐng)域的應(yīng)用具有一定的實(shí)用價(jià)值。
[Abstract]:The high performance multi-motor control is one of the key contents in the research and development of the automatic transmission system, and the multi-motor system is characterized by its complexity, diversity, mutual disturbance, and so on. At present, the controller based on MCU (MCU) and digital signal processor (DSP) can not meet the needs of multi-motor system control because of its own structural characteristics. FPGA is a kind of field programmable logic gate array chip, which has the advantages of real-time parallel processing, reconfigurable design and intuitive flow. It can not only realize complex control algorithm but also control multiple motors at the same time. According to the actual situation, the SVPWM interface can be reconstructed to realize the multi-motor control system platform. Therefore, this paper designs a multi-motor control platform based on FPGA to drive multiple motors to meet the requirements of the control system. In this paper, the structure and mathematical model of permanent magnet synchronous motor (PMSM) are introduced, and vector control and space voltage vector SVPWM technology are studied. On this basis, the constant torque angle vector control system of permanent magnet synchronous motor is established. In addition, the method of multi-motor coordinated control and the principle of cross-coupling control are introduced, and the coordination control model of double-motor is built by using simulink. Then, the single motor vector control system is realized on FPGA chip by using the hardware description language (Verilog HDL). The control system mainly uses CORDIC-FPGA algorithm and cyclic division operation to realize vector control, space voltage vector modulation (SVPWM), PI control, ADC interface and other functional modules. The function and timing of each module is simulated by Modelsim software, which verifies its feasibility. Furthermore, the coordinated control platform is constructed by using C visual library Qt and cross-coupling coordination algorithm, and the man-machine interface is designed. The coordinated rotational speed instructions are sent to the FPGA through the UART interface to coordinate the synchronous operation of the motor. Finally, based on the above scheme, a dual motor control system platform is built, and various system performance tests are carried out on the platform. The results show that the proposed multi-motor control system based on FPGA has good dynamic characteristics. It can be predicted that the research work in this paper has certain practical value for the application of multi-servo drive field.
【學(xué)位授予單位】：長(zhǎng)安大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TP273;TM341

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本文編號(hào)：2262147