基于DSP的单通道伺服控制器设计
摘要
伺服控制器是电液伺服系统的重要组成部分,是完成各种伺服控制算法,实现电液伺服系统实时运动控制的关键。单通道伺服控制器是伺服控制器的一种,主要应用于单缸位置闭环系统中。现阶段,国内大多采用国外厂家生产的通用控制器来实现单缸的位置伺服闭环,该类控制器不但价格昂贵,而且还需根据自身实际应用环境,设计相应的调理电路。基于DSP的单通道伺服控制器既为单缸位置伺服控制提供了一个完整的解决方案,缩短了控制系统的开发周期,又继承了嵌入式系统高性价比的特点,削减了控制系统的开发成本。鉴于以上优势,基于DSP的单通道伺服控制器在单缸位置闭环系统中具有非常广阔的应用前景。
本文首先分析了单通道伺服控制器的整体功能及性能需求,并根据整体功能需求划分了控制器软、硬件平台的功能模块,最终细化出软、硬件各功能模块的功能及性能需求。然后,根据软、硬件各模块的功能及性能需求,设计了单通道伺服控制器的软、硬件平台。在硬件平台的设计阶段,详细探讨了如何在DSP28335片外扩展位移采集模块和伺服阀驱动模块,并为位移采集模块和伺服阀驱动模块设计了相应的调理电路及硬件驱动。在控制器的软件设计阶段,主要设计了单通道伺服控制器与上位机之间的CAN通讯模块,并根据实际系统的需求,设计了单通道控制器的位置伺服闭环程序和人机交互界面。最后,通过实验验证了控制器的正确性,并阐述了单通道伺服控制器的比例增益对系统性能的影响。
本文中采用了基于快速原型技术的DSP程序开发方案,我们首先在利用Simulink中的Embeded Target for C2000 DSP工具箱编写控制器的伺服闭环程序,然后通过Matlab中的Real-Time Workshop和TI的开发工具将Simulink模型转换成实时控制代码。最后通过Code Composer Studio将实时控制代码下载到单通道伺服控制器中。
本论文研发的单通道伺服控制器可以完成4路传感器信号的采集、1路伺服阀的驱动、8路数字量输入和8路数字量输出。我们并为单通道控制器配备了CAN通讯模块和人机交互模块,用户仅需将上位机的CAN接口与控制器的CAN接口相连并在上位机安装人机交互软件,便可以实现控制参数的实时修改和位移反馈信号的实时监测。
Servo_Controller plays an important role in electro_hydraulic servo system, which is the key factor to realize servo control algortihm and to achive real_time motion cotrol.Single Channel Servo Controller is a kind of Sevo_Controller used in position close_loop servo system. Nowadays, General Controller produced by foreign company is often adapt to accomplish single cylinder position close_loop control.This kind controller is not only expensive, but also analog regulate circuits need to be designed according to practical application enviroment. Single Channel Servo Controller provides an integrate solution for single cylinder servo control system, therefore time to bulit a servo system is reduced, Single Channel Controller also obtain one characteristic of embeded system, which make Single Channel Controller much cheaper than General Controller. According to the advantages of this controller, Single Channel Controller will be widely used in single cylinder position servo control system.
Firstly, this paper analysed the whole function and performance requirements of Single Channel Controller. Then according to whole function requirement, several function module of hardware and software is divided. Subsequently, the detailed function and performance requirement of each module is obtained. Secondly, software and hardware platform was designed according to the function and performance requirement of each modules. In the hardware design stage, we design the DSP’s peripheral extended circuits, including extending position acquisition module and servovalve drive module. Corresponding regulate circults and hardware drives were also designed for these two module. In software design stage, we mainly designed the CAN communication module to bridge the connection between host computer and the controller. The servo close_loop code and the graphic users’interface for position servo control system were also developed. Finally, we testified the validity of Single Channel Controller and derived the realtionship between proportional gain of controller and performance of postion servo system.
Rapid Prototyping Technology was employed to develop the realtime code for DSP. At the beginning, Embeded Target for C2000 DSP Toolkit was used to develop the controller’s servo close_loop code in Simulink. Then, we translate the simulink model to realtime code by Real_Time Workshop and Tools provided by TI company. Finally, the realtime code was downloaded into single channel servo controller by Code Composer Studio.
The following functions had been obtained in Single Channel controller: aquiring 4 channals transducers’singnal, driving 1 servovalve, outputing 8 channals digital singnal and inputing 8 channals digital singnal. Furthermore, CAN communication module and graphic users’interface were equiped for this controller. Users only needs to connect CAN interface of Controller to interface of host computer and install the human-computer interaction software, then the control parameter can be download into single channel controller and the feedbacked position singnal also can be monitered in real time.
本文首先分析了单通道伺服控制器的整体功能及性能需求,并根据整体功能需求划分了控制器软、硬件平台的功能模块,最终细化出软、硬件各功能模块的功能及性能需求。然后,根据软、硬件各模块的功能及性能需求,设计了单通道伺服控制器的软、硬件平台。在硬件平台的设计阶段,详细探讨了如何在DSP28335片外扩展位移采集模块和伺服阀驱动模块,并为位移采集模块和伺服阀驱动模块设计了相应的调理电路及硬件驱动。在控制器的软件设计阶段,主要设计了单通道伺服控制器与上位机之间的CAN通讯模块,并根据实际系统的需求,设计了单通道控制器的位置伺服闭环程序和人机交互界面。最后,通过实验验证了控制器的正确性,并阐述了单通道伺服控制器的比例增益对系统性能的影响。
本文中采用了基于快速原型技术的DSP程序开发方案,我们首先在利用Simulink中的Embeded Target for C2000 DSP工具箱编写控制器的伺服闭环程序,然后通过Matlab中的Real-Time Workshop和TI的开发工具将Simulink模型转换成实时控制代码。最后通过Code Composer Studio将实时控制代码下载到单通道伺服控制器中。
本论文研发的单通道伺服控制器可以完成4路传感器信号的采集、1路伺服阀的驱动、8路数字量输入和8路数字量输出。我们并为单通道控制器配备了CAN通讯模块和人机交互模块,用户仅需将上位机的CAN接口与控制器的CAN接口相连并在上位机安装人机交互软件,便可以实现控制参数的实时修改和位移反馈信号的实时监测。
Servo_Controller plays an important role in electro_hydraulic servo system, which is the key factor to realize servo control algortihm and to achive real_time motion cotrol.Single Channel Servo Controller is a kind of Sevo_Controller used in position close_loop servo system. Nowadays, General Controller produced by foreign company is often adapt to accomplish single cylinder position close_loop control.This kind controller is not only expensive, but also analog regulate circuits need to be designed according to practical application enviroment. Single Channel Servo Controller provides an integrate solution for single cylinder servo control system, therefore time to bulit a servo system is reduced, Single Channel Controller also obtain one characteristic of embeded system, which make Single Channel Controller much cheaper than General Controller. According to the advantages of this controller, Single Channel Controller will be widely used in single cylinder position servo control system.
Firstly, this paper analysed the whole function and performance requirements of Single Channel Controller. Then according to whole function requirement, several function module of hardware and software is divided. Subsequently, the detailed function and performance requirement of each module is obtained. Secondly, software and hardware platform was designed according to the function and performance requirement of each modules. In the hardware design stage, we design the DSP’s peripheral extended circuits, including extending position acquisition module and servovalve drive module. Corresponding regulate circults and hardware drives were also designed for these two module. In software design stage, we mainly designed the CAN communication module to bridge the connection between host computer and the controller. The servo close_loop code and the graphic users’interface for position servo control system were also developed. Finally, we testified the validity of Single Channel Controller and derived the realtionship between proportional gain of controller and performance of postion servo system.
Rapid Prototyping Technology was employed to develop the realtime code for DSP. At the beginning, Embeded Target for C2000 DSP Toolkit was used to develop the controller’s servo close_loop code in Simulink. Then, we translate the simulink model to realtime code by Real_Time Workshop and Tools provided by TI company. Finally, the realtime code was downloaded into single channel servo controller by Code Composer Studio.
The following functions had been obtained in Single Channel controller: aquiring 4 channals transducers’singnal, driving 1 servovalve, outputing 8 channals digital singnal and inputing 8 channals digital singnal. Furthermore, CAN communication module and graphic users’interface were equiped for this controller. Users only needs to connect CAN interface of Controller to interface of host computer and install the human-computer interaction software, then the control parameter can be download into single channel controller and the feedbacked position singnal also can be monitered in real time.
引文
1赵升吨,魏树国,王军.液压伺服控制系统研究现状的分析[J].伺服控制. 2006, (11):16~22.
2 Kaliamoorthy.DSP based implementation of high performance flux estimators for speed sensorsless induction motor drive using TMS320F2812.2008, 12(4).
3 Antonello Monti, Enrico Santi, Roger A. Dougal, Marco Riva. Rapid Prototyping of Digital Controls for Power Electronics. IEEE TRANSACTIONS ON POWER ELECTRONICS[J]. 2003,18(3):915~923
4 CHI Guan-xin, et al. Study on the servo control system of MWEDM. Journal of Harbin Institute of Technology[J]. 2005,12(3):245~248
5 Zhang Dongliang. DSP-based software AC servosystems with PM synchronous motors[J]. Proceedings of the Fifth International Conference on Electrical Machines and Systems. 2001,2(3):755~758
6 Wang Fei, Long Teng, Gao MeiGuo.A digital signal Processor for High Range Resolution Tracking Radar[J].International Conference on Signal Processing Proceedings,2002, (6):1441-1444
7 Y. Zhao, D.C. Cong and J.W. Han. An Integrated Approach for the Realization of the Real-time Control in Electro-Hydraulic Servo System[J]. Applied Mechanics and Materials,2008, 10-12(1).
8 Kang, Moon Ho; Park, Yoon Chang.A Real-time Control Platform for Rapid Prototyping of Induction Motor Vector Control[J]. Electrical Engineering 2006,88(6): 473~483.
9李真芳,苏涛,黄小宇. DSP程序开发—Matlab调试及直接目标代码生成.西安电子科技大学出版社,2003: 146-180.
10顾长怡,黄佩伟.利用RTDX技术实现计算机实时话音分析[J].计算机工程.2001, 02期: 155-156.
11张卫宁.集成化开发环境(CCS)使用手册[M].清华大学出版社, 2005: 1-10.
12李阳阳.基于DSP的电液伺服系统嵌入式控制器[D].哈尔滨工业大学硕士学位论文. 2007: 32~34.
13徐晓峰,朱德森,等.基于DSP的伺服控制系统设计[J].工业控制计算. 2003,16(5):26—27.
14陈千平.液压振动系统的伺服控制器研究及其DSP实现[D].北京工业大学硕士学位论文.2006.
15易建钢,刘光临,陈奎生,林躜.基于数字一体化的液压伺服系统软件设计与研究[J].机床与液压,2006,(3):158—159.
16 Texas Instrument TMS320C28x系列DSP的CPU与外设[M].张卫宁编译.清华大学出版社,2005:258.
17戴大海.磁悬浮轴承数字控制器的研究与设计[D].南京航空航天大学硕士学位论文.2006.
18季小林,高晓蓉.基于TMS320F2812的数据采集系统[J].微计算机信息,2007(23):169—171.
19 Luyi Xia, Tieying Li. Application of CPLD in High Speed Data acquisition[J]. ISTM/2003 5th Internatinal Symposium on Test and Measurement, Shenzhen, China, 2003. v1.2003: 443-446.
20 Ji Wei.Design and application of digital servo controller module based on DSP and CPLD[J]. 21st Annual IEEE Applied Power Electronics Conference and Exposition.2006.
21袁帅,佟为明,李中伟.TMS320F2812外设接口分析与存储器扩展[J].经验交流. 2007.
22郭峻岭.基于DSP的信号采集与处理系统的设计与实现[D].武汉理工大学.2009.
23邓云庆,赵长德,董景新.DSP数字处理器在快速数字采集系统中的应用[J].仪器仪表学报,2001,22(3):1~4.
24 Dong Wenjuan,Luo Wusheng,Zhang Zhenghong.Research on General Appraisement of a Practical Data Acquisition System[J].Proceedings of the Second International Symposium on Instrumentation Science and Technology, 2002,(3):916-920.
25 Gang Li,Wei Shao.DSP-based Data Acquisition and Processing System for OCT[J].Optics in Health Care and Biomedical Optics,2001,(12):536-542.
26 Xu Yongping, Cao Ziyuan, Xu Debing.The development of management and acquisition software in the high speed data acquisition system[J]. Proceedings of the second International Symposium on Instrumentation Science and Technology. 2002, v1: 367-372.
27 Dolle.M, Muller.O. Schlett.M.A 32-b RISC/DSP with reduced complexity[J],Solid-State Circuits.IEEE Journal. 1997,32(7):1056~1066
28王潞钢,DSPC2000程序员高手进阶[M].北京:机械工业出版社,2005.
29童诗白,华成英.模拟电子技术基础[M].高等教育出版社.2000.
30李渊.基于DSP的CAN总线技术研究[D].华中科技大学.2007.
31王秋才,张劲涛,武奇生.基于DSP与CAN的高精度光电转换器的研究[J].压电与声光,2007,29(3):1~5.
32 Cena,Gianluca,Valenzano,Adriano.Improved CAN fieldbus for industrial applications IEEE Transaction on Industrial Electronics,1997,44(4):553-564
33 Bobb S,Kilbride E.Motorola Semiconductor Application Note:CAN Bit Timing Requirements[R].AN 1798,Scotland:Freescale Semiconductor,Inc,1999.
34饶运涛,邹继军,郑勇芸.现场总线CAN原理与应用技术[M].北京:北京航空航天大学出版社,2003.
35冷详彪,刘屿,彭奕文.基于DSP的CAN总线通用的监控系统[J].测控系统,2006,25(7):1~5.
36潘伟,王汉功,张霞.基于TMS320F2812 DSP的智能CAN节点设计[J].自动化仪表,2005,26(10):1~3.
37田琪,阎建国,吴春英.基于DSP与CAN的现场总线数据采集系统[J].制造自动化,2005,27(12):1~3.
38孙剑.基于DSP的数字式控制器设计[D].西北工业大学.2008.
39苏奎峰,吕强,邓志东等.TMS320x28xxx原理与开发[M].电子工业出版社,2009:335~361
40 Tadeusz Wysocki, Hashem Razavi.Digital Singnal Processing for Communication System[J],1997.
41廖传书,李崇.CAN总线控制器与DSP之间的接口[J].电子技术应用,2002,(11):1~5.
42陈育良,许爱强,李文海,汪定国.SN65HVD230型CAN总线收发器的原理及应用.国外电子元器件[J].2005(9):47~49.
43 Ye-Hwa Chen. Constraint-following Servo Control Design for Mechanical Systems[J]. Journal of Vibration and Control. 2009,15(3):369-389.
44张灵.采用DSP实现SRD的数字化控制[D].太原理工大学硕士学位论文. 2004: 12~14
45商秋芳,吴学杰,梅红伟,黄正桥.基于Labview和TMS320F2812的液压伺服控制系统的设计[J].现代电子技术,2007(21):1~5.
46李洪人.液压控制系统[M].哈尔滨工业大学出版社,1995:162
2 Kaliamoorthy.DSP based implementation of high performance flux estimators for speed sensorsless induction motor drive using TMS320F2812.2008, 12(4).
3 Antonello Monti, Enrico Santi, Roger A. Dougal, Marco Riva. Rapid Prototyping of Digital Controls for Power Electronics. IEEE TRANSACTIONS ON POWER ELECTRONICS[J]. 2003,18(3):915~923
4 CHI Guan-xin, et al. Study on the servo control system of MWEDM. Journal of Harbin Institute of Technology[J]. 2005,12(3):245~248
5 Zhang Dongliang. DSP-based software AC servosystems with PM synchronous motors[J]. Proceedings of the Fifth International Conference on Electrical Machines and Systems. 2001,2(3):755~758
6 Wang Fei, Long Teng, Gao MeiGuo.A digital signal Processor for High Range Resolution Tracking Radar[J].International Conference on Signal Processing Proceedings,2002, (6):1441-1444
7 Y. Zhao, D.C. Cong and J.W. Han. An Integrated Approach for the Realization of the Real-time Control in Electro-Hydraulic Servo System[J]. Applied Mechanics and Materials,2008, 10-12(1).
8 Kang, Moon Ho; Park, Yoon Chang.A Real-time Control Platform for Rapid Prototyping of Induction Motor Vector Control[J]. Electrical Engineering 2006,88(6): 473~483.
9李真芳,苏涛,黄小宇. DSP程序开发—Matlab调试及直接目标代码生成.西安电子科技大学出版社,2003: 146-180.
10顾长怡,黄佩伟.利用RTDX技术实现计算机实时话音分析[J].计算机工程.2001, 02期: 155-156.
11张卫宁.集成化开发环境(CCS)使用手册[M].清华大学出版社, 2005: 1-10.
12李阳阳.基于DSP的电液伺服系统嵌入式控制器[D].哈尔滨工业大学硕士学位论文. 2007: 32~34.
13徐晓峰,朱德森,等.基于DSP的伺服控制系统设计[J].工业控制计算. 2003,16(5):26—27.
14陈千平.液压振动系统的伺服控制器研究及其DSP实现[D].北京工业大学硕士学位论文.2006.
15易建钢,刘光临,陈奎生,林躜.基于数字一体化的液压伺服系统软件设计与研究[J].机床与液压,2006,(3):158—159.
16 Texas Instrument TMS320C28x系列DSP的CPU与外设[M].张卫宁编译.清华大学出版社,2005:258.
17戴大海.磁悬浮轴承数字控制器的研究与设计[D].南京航空航天大学硕士学位论文.2006.
18季小林,高晓蓉.基于TMS320F2812的数据采集系统[J].微计算机信息,2007(23):169—171.
19 Luyi Xia, Tieying Li. Application of CPLD in High Speed Data acquisition[J]. ISTM/2003 5th Internatinal Symposium on Test and Measurement, Shenzhen, China, 2003. v1.2003: 443-446.
20 Ji Wei.Design and application of digital servo controller module based on DSP and CPLD[J]. 21st Annual IEEE Applied Power Electronics Conference and Exposition.2006.
21袁帅,佟为明,李中伟.TMS320F2812外设接口分析与存储器扩展[J].经验交流. 2007.
22郭峻岭.基于DSP的信号采集与处理系统的设计与实现[D].武汉理工大学.2009.
23邓云庆,赵长德,董景新.DSP数字处理器在快速数字采集系统中的应用[J].仪器仪表学报,2001,22(3):1~4.
24 Dong Wenjuan,Luo Wusheng,Zhang Zhenghong.Research on General Appraisement of a Practical Data Acquisition System[J].Proceedings of the Second International Symposium on Instrumentation Science and Technology, 2002,(3):916-920.
25 Gang Li,Wei Shao.DSP-based Data Acquisition and Processing System for OCT[J].Optics in Health Care and Biomedical Optics,2001,(12):536-542.
26 Xu Yongping, Cao Ziyuan, Xu Debing.The development of management and acquisition software in the high speed data acquisition system[J]. Proceedings of the second International Symposium on Instrumentation Science and Technology. 2002, v1: 367-372.
27 Dolle.M, Muller.O. Schlett.M.A 32-b RISC/DSP with reduced complexity[J],Solid-State Circuits.IEEE Journal. 1997,32(7):1056~1066
28王潞钢,DSPC2000程序员高手进阶[M].北京:机械工业出版社,2005.
29童诗白,华成英.模拟电子技术基础[M].高等教育出版社.2000.
30李渊.基于DSP的CAN总线技术研究[D].华中科技大学.2007.
31王秋才,张劲涛,武奇生.基于DSP与CAN的高精度光电转换器的研究[J].压电与声光,2007,29(3):1~5.
32 Cena,Gianluca,Valenzano,Adriano.Improved CAN fieldbus for industrial applications IEEE Transaction on Industrial Electronics,1997,44(4):553-564
33 Bobb S,Kilbride E.Motorola Semiconductor Application Note:CAN Bit Timing Requirements[R].AN 1798,Scotland:Freescale Semiconductor,Inc,1999.
34饶运涛,邹继军,郑勇芸.现场总线CAN原理与应用技术[M].北京:北京航空航天大学出版社,2003.
35冷详彪,刘屿,彭奕文.基于DSP的CAN总线通用的监控系统[J].测控系统,2006,25(7):1~5.
36潘伟,王汉功,张霞.基于TMS320F2812 DSP的智能CAN节点设计[J].自动化仪表,2005,26(10):1~3.
37田琪,阎建国,吴春英.基于DSP与CAN的现场总线数据采集系统[J].制造自动化,2005,27(12):1~3.
38孙剑.基于DSP的数字式控制器设计[D].西北工业大学.2008.
39苏奎峰,吕强,邓志东等.TMS320x28xxx原理与开发[M].电子工业出版社,2009:335~361
40 Tadeusz Wysocki, Hashem Razavi.Digital Singnal Processing for Communication System[J],1997.
41廖传书,李崇.CAN总线控制器与DSP之间的接口[J].电子技术应用,2002,(11):1~5.
42陈育良,许爱强,李文海,汪定国.SN65HVD230型CAN总线收发器的原理及应用.国外电子元器件[J].2005(9):47~49.
43 Ye-Hwa Chen. Constraint-following Servo Control Design for Mechanical Systems[J]. Journal of Vibration and Control. 2009,15(3):369-389.
44张灵.采用DSP实现SRD的数字化控制[D].太原理工大学硕士学位论文. 2004: 12~14
45商秋芳,吴学杰,梅红伟,黄正桥.基于Labview和TMS320F2812的液压伺服控制系统的设计[J].现代电子技术,2007(21):1~5.
46李洪人.液压控制系统[M].哈尔滨工业大学出版社,1995:162