系统可程式晶片为基础之感应马达控制系统智慧财产研制

1NSC92-2213-E-182-019928193731FPGAPWMA/DPIVHDLFPGAAbstractInthispaper,theintellectualpropertydesignofFPGA-basedvector-controlledinductionmotorsispresented.Thedevelopedintellectual-propertymodulesincludecoordinatetransformation,PWMmodule,fluxdetector,rotorangledetector,slipcalculator,A/Ddataacquisition,decodercircuit,andfourPIcontrollers.Integratingwithperipheralcircuits,vector-controlledinductionmotorcanbeimplementedwithasinglechip.Byusingthehierarchicalandmodularrealizationstrategy,thedesignedcircuitshavethemeritoflesscomplexity.Fullydigitaldesigncanavoidtheagingproblemofanalogdevices,anddealwithsensitivitycausedbytemperature.Toevaluatethecontrolperformance,thewholecircuitisdevelopedbyVHDL,andimplementedwithFPGAchip.Keywords:FPGA,InductionMotor,VectorControl,HDLI.1970HasseBlaschkevectorcontrolfield-orientedcontrol[1-2][3-4]ASICICFPGAFieldProgrammableGateArrayIPII.IP1IPIPFPGAPWMPWMFPGAABFPGAPWM141−PARK1−CLARKPARKCLARKPWMA/Dd-q-PIIII.IP:1−PARK1−CLARKPARKCLARKfinitestatemachine23.1PARK1−PARK;eθeθsineθcos2SIN/COSgeneratorCurrentControllerCurrentControllerSpeedControllerFluxControllerrmω*edrφFPGAInverterA/D2e2e2s2s2s2s3s3sPHAPHBDATABUS*eqsV*edsV*sqsV*sdsVasVbsVcsVUVWUVWasicsiasicsibsiasicsisqsisdsieqsiedsislωedrφrωrmωeθeω*eqsi*edsi'eqsV'edsV1FPGAIPCLKMUXAdder&SubtractorRegisterINPUT1INPUTN1~NOUTPUT1OUTPUTN1~NFSM(FiniteStateMachine)MultiplierMultiplier2000901024AlteraStratixEP1S25F780C5EABembeddedarrayblockROM[5]00090eθeθ0003603eθ1θ2θ0009033.2eqseedsesdsVVV×−×=θθsincos(1)eqseedsesqsVVV×+×=θθcossin(2)eθsineθcossdsVsqsVedsVeqsV40090~0eθ1θ2θ1sinθ2sinθeθsineθcos3eθcoseθsinedsveqsvsdsvsqsv43sdsVsqsVasVcsVbsV53.3sdsasVV=(3)sqssdsbsVVV2321+−=(4)sqssdscsVVV2321−−=(5)212353.4(6)0=++csbsasiii(7)(8)−=−−−=csbsascsbsassqssdsiiiiiiii3131000131310313132(6)(6)assdsii=(7)csbssqsiii3131−=(8)6asicsisdsisqsi63.5sqsesdseedsiii×+×=θθsincos(9)sqsesdseeqsiii×+×−=θθcossin(10)eθcoseθsinedsieqsisdsisqsi7sdsieθcoseθsinsqsiedsieqsi73.61edsVeqsVsdsVsqsVasVbsVcsVPWM/asibsicsisdsisqsiedsieqsislωeθ8edsVeqsVasVbsVcsVedsieqsiedsVeqsV4edsVeqsVsdsVsqsVasVbsVcsVasibsicsisdsisqsiedsieqsieθ1−ClarkClark1−ParkPark8IV.IP4.1)(1)(sisLsedsrmedrτφ+=(11)Tzzs1−=(12))]()([1)(1zTiLzzTzedsmedrrredr++=−φττφ(12)9)}(])1[({1)(kTTiLTkTkTedrmedrrredr+−+=φττφ(13)edsirmTTLτ+rrTττ+1−zedrφ94.210eqsrrmsliL*φτω=(14)eqsirmLτ*rφslω10SlipDetector⊕slωeωrmω∫2PeθrωSlipDetector⊕slωeωrmω∫∫2P2Peθrω114.3eθeω11124.4edsVeqsV(15)(16)q-d-)ˆ1('*edrrmedseeqsseqsLivLvφωσσωσ−++=(15))ˆ1('*edrmreqseedssedsLivLvφστσωσ−−−=(16)13(15)q-14(16)d-rωslω1−zeθT125eωedsi'eqsVedrφˆLmσσ−1Lsσ*eqsV13q-eωeqsi'edsVedrφˆLmrστσ−1Lsσ*edsV14d-4.5PI-PIPIsKKsusyIP+=)()((17)discretetimebackwardTzzs1−=)()})1(()({])1[()(kTTukTkukTukTkykTyip+−−+−=(18)15PITKI)(kTuPK1−z1−z)(kTy15PIV.16FPGA16VHDLQuartusII4.0FPGA6PWMFPGAAB900RPMqd17-22VI.FPGA-BasedPWMA/DSOCSystemOnChip616[1]F.Blaschke,“ThePrincipleofFieldOrientedasAppliedtoTheNewTransVectorClosedLoopControlSystemforFieldMachines,”SiemesnsReview,vol.34,pp.217-220,1972.[2]R.D.Lorenz,T.A.Lipo,andD.W.Novotny,“MotionControlwithInductionMotor,”ProceedingoftheIEEE,vol.82,no.8,pp.1215-1240,1994.[3]L.-H.Hoang,“MicroprocessorsandDigitalICsforMotionControl,”IEEEProc.,vol.82,no.8,pp.1140-1163,Aug.1994.[4]D.Mann,“NewDSP-ControllerICforDigitalMotorControl,”ElectronicEngineering,no.1,pp.57-62,Sep.1996.[5]AlteraCorporation,Altera,StratixEP1S25DSPDevelopmentBoard,2003.17900RPM18900RPM19900RPMq-20900RPMd-21900RPM22900RPM