MPSoC-based multi-axis servo motor controller

被引：0
|
作者：
Wang B.-J. [1 ]
Wang D. [1 ]
Xu R. [1 ]
Zhang W.-X. [1 ]
Liu Q.-X. [1 ]
机构：
[1] College of Physical Science and Technology, Southwest Jiaotong University, Chengdu
来源：
Dianji yu Kongzhi Xuebao/Electric Machines and Control | 2021年 / 25卷 / 12期
关键词：
Field programma-ble gate array; Multi-axis servo drive; Multi-processor system on chip; Servo motor; Software and hardware co-design; Vector control;
D O I：
10.15938/j.emc.2021.12.003
中图分类号：
学科分类号：
摘要：
In order to realize independent and synchronous drive control of multi-axis servo motors in a single chip, a multi-axis servo motor drive control scheme which is based on multi-processor system on chip(MPSoC) is proposed. Firstly, the software and hardware co-design technology was used to realize the speed and current loop control of the single-axis servo motor. The current vector control algorithm and the signal acquisition and processing algorithm, which have high real-time performance and relatively single control algorithm, were realized by hardware, the speed loop algorithm which has strong flexibility was implemented by software. Secondly, the design method of MPSoC was adopted, the main controller multi-axis servo drive control module, network communication and other functional modules were also integrated in the single-chip field programmable gate array(FPGA), and constructed the multi-axis servo motor drive control system on chip. Finally, a two-way experimental system was built and verified by experiments. Experimental results show that this scheme can realize independent and synchronous drive control of two (multiple) servo motors. The current loop's delay is small, and the speed loop has the characteristics of fast response and small hysteresis, which verifies the feasibility and effectiveness of the scheme. © 2021, Harbin University of Science and Technology Publication. All right reserved.
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页码：19 / 26
页数：7
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