次世代DSP数位马达与运动控制平台之发展(I)

1DSP(I)Platformdevelopmentofdigitalmotorandmotioncontrolusinganext-generationDSP(I)NSC91-2213-E-218-033918192731E-mail:[e-mail](DigitalSignalProcessor,DSP)TMS320F28xDSPX-YFPGAPCCAN()DSPX-YABSTRACTThisprojectistodevelopahigh-performancefullydigitalservomotorandmotioncontroller’splatform(called“DSPmotorcontrolplatform”)basedonthenextgenerationDPS-TMS320F28xxproducedbyTexasInstrument.Thehigh-performanceDSPmotorcontrolplatformnotonlyaresuitableforthetechniquedevelopmentsofacmotorcontrol,linearmotorcontrol,two-axislinearX-Ytablemotioncontrolandintelligentcontrol,butalsohavethefunctionstocommunicatewithPCviaserialorparallelport,totransmitdatawithFPGAchipviabuscontrol,toconnectwithnetworkcontrollerviaCAN(Controllerareanetwork)architecture.Therefore,theDSPmotorcontrolplatformisalsosuitableadevelopmentofsystemintegrationcontrol.Thisprojectbelongstoathree-yearproject.Infirstyear,wehavebeenfinishedaprototypeofDSPmotorcontrolplatformandproposedanintelligentadaptivefuzzycontrolalgorithm.Finally,APMSMhasbeenusedtoverifytheeffectivenessofthedevelopedDSPmotorcontrolplatform.Keywords:DSP,Adaptivefuzzycontrol,Permanentmagnetsynchronousmotor,Linearmotor,Two-axislinearX-Ytable.(DSP)[1]DSP[2-5]DPSDSP-TMS320LF28xTMS320LF28xCANPCTMS320F28xCPU150MIPS128Kx16Flash—(12)(PWM)(QEP)12A/D(GPIO)()DSP2TMS320F2812DSP2DSP1.2d-q0*=dsi(Decouple)[6]qeT2(PI)(SVPWM)(Inverter)/()[6]2SVPWM[7]ids0*qsteiKT=(1)LermrmTTBdtdJ−=+ωω(2)eTiKmJmBLT2.[8-9]2ee∆)()()(*nwnwnerr−=(3))1()()(−−=∆nenene(4)fua.ee∆fu},,{21EAA2wxx2wxxxxx2wx2/wxxwhen02/wx2/wx2/w2/wxx0)w,x,x(mimiimimiimimiimimimimiimiimimimimimiimimiim+≥+−−≤−++−=ξ(5)ix)(•mξmixmiwb.MM)|(θxufmm2m1EisTHENAiseandAisIFfue∆(6)m=1,2,..,Mc.)|(θxufM(6)∑∑∑∏∑∏======∆=MmmMmmmMmimimiimMmimimiimmfcwxxwxxc|xu11121121)],,([)],,([)(µµξξθ(7)Mccc,..,,21(Costfunction)∑∞=+=0)(nnkJJ[]22)()(21)(21)(nkwnkwnkenkJrmm+−+=+=+jc)()()(kcnkJkcjj∂+∂−∝∆jcLT(1)-(2)mmmmmiqsrJBsJBBKsis//)()(*+=ω1/1/*1)1()()(−−−−−−=ωzezeBKkikmmmmJTBJTBmiqsr1−zT3(12)fu)()1()(**kukkikifuqsqs+−=3)()1()()1(*kuBKkBikAkfuqsrr+−+ω=+ω4)/exp(mmJTBA−=miBAKB/)1(−=(14)(8))1(+kJ)()()()1()1()()1(kckukukkekckJjffrmj∂∂∂+ω∂+α−=∂+∂(14)ufrBKkuk=∂+ω∂)()1((7)∑µµ=∂∂mmjjfkkkcku)()()()(∑∑µµα≈µµα=∆mmjmummjmujkeKBSignkeBKkc)()()()(sign(B)B3.DSP1a.375W(2500)2.4A3000rpm5N*m(Inverter)IGBTIGBT600V±20VDC25A(1ms)50AICTLP250IGBTMOSFETDSPPWMDSP4LEDLCDD/AA/DCANFPGAPWM16kHz(dead-band)1µs8kHz1kHzC5DSP3.6µs16µsDSPCPCDSPb.2d0q3.5A66(a)6(b)dsi,qsi120rad/s1(15)α1200~1500rpm1.2N*m7α=0.10.150.27(a)α0.1α0.27(c)7ci300~600rpm2400~2700rpm0.2N*m8~99279TMS320F2812DSP4TMS320LF2812DSPDSP[10]2003[11]2004IEEEISIE[12]IEEProceedings–ElectricPowerApplicationsTMS320F/C24xDSP,,20019.H.H.Chen,S.N.Yeh,J.C.Hwang,andM.H.Chen,“DevelopmentofDSP_basedServoDriveforPermanent-MagnetSynchronousMotors,”The22ndSymposiumonElectricalPowerEngineering,PP.417-421,Nov.2001.A.M.Trzynadlowski,M.P.Kazmierkowski,P.Z.Grabowski,M.M.Bech,“ThreeexamplesofDSPapplicationsinadvancedinductionmotordrives,”AmericanControlConference,vol.3,pp.2139-2140,1999.M.FuandL.Xu,“Anovelsensorlesscontroltechniqueforpermanentmagnetsynchronousmotor(PMSM)usingdigitalsignalprocessor(DSP),”Proc.oftheIEEENAECON,vol.1,pp.403-408,1997.DSPX-Y,,2002.,,,“DSP,”,PP.1222~1226,Nov.2002.C.M.LiawandY.S.Kung,“FuzzyControlwithReferenceModel-FollowingResponse,”FuzzyTheorySystems:TechniquesandApplications,vol.1,1999,pp.129-158.J.L.SilvaandH.Le-Huy,“AnImprovedFuzzyLearningAlgorithmforMotionControlApplication,”IECON’98Proceedingsofthe24thAnnualConferenceoftheIEEE,vol.1,pp.1-5.Y.S.KungandP.G.Huang,“HighPerformancePMSMDrivesUsingTMS320F2812DSPController,”,pp.206-213,Sep.2003.Y.S.Kung,P.G.HuangandF.K.Tu,“DevelopmentofDSP_basedAdaptiveFuzzyControllerforPermanentMagnetLinearSynchronousMotorDrives,”Acceptedby24thSymposiumonElectricalPowerEngineering,2003.Y.S.KungandP.G.Huang,“HighPerformancePMLSMDrivesBasedonDSPController,”SubmittedtoIEEEISIEConference,2004ACSERVOMOTOR+DCVWUBZATL084TL084TL084TL08474HC7474HC74TL084TL084TL084TL08474HC1074HC10TL084TL084TL084TL084TL084TL084CurrentSensorCurrentSensor+74HC0474HC1074HC10TLP250TLP250TLP250TLP250TLP250TLP250TLP250TLP250TLP250TLP250TLP250TLP25015W105W105W105W105W105W10IGBTIGBTIGBTIGBTIGBTIGBTG11GG32GG53GG2G4G6GndIWIUUVW+--+5VGND-12V+15VDCACOCDisEnbResterGuGwSet_OVVr12134563425640PinFromDSKBoard5V-12V12VABZUVWCUCWPanasonicMotorSignalSP-PowerMotorPowerUVWACMotorUVDCMotorDriverBoardPowerDynamoMotorSignal+DCVWUBZATL084TL084TL084TL084TL084TL084TL084TL08474HC7474HC7474HC7474HC74TL084TL084TL084TL084TL084TL084TL084TL08474HC1074HC1074HC1074HC10TL084TL084TL084TL084TL084TL084TL084TL084TL084TL084TL084TL084CurrentSensorCurrentSensorCurrentSensorCurrentSensor++74HC0474HC1074HC10TLP250TLP250TLP250TLP250TLP250TLP250TLP250TLP250TLP250TLP250TLP250TLP250115W105W105W105W105W105W105W105W105W105W105W105W10IGBTIGBTIGBTIGBTIGBTIGBTIGBTIGBTIGBTIGBTIGBTIGBTG11GG32GG53GG2G4G6GndIWIUUVW+--+5VGND-12V+15VDCACOCDisEnbResterGuGwSet_OVVr12134563425640PinFromDSKBoard5V-12V12VABZUVWCUCWPanasonicMotorSignalSP-PowerMotorPowerUVWACMotorUVDCMot