交流伺服馬達FPGA控制IC之研製

研究生:郭天送   指導教授:鄒應嶼 博士

電力電子與運動控制實驗室
國立交通大學  控制工程研究所


摘 要

本論文針對交流伺服馬達提出全數位向量控制IC的電路架構,並以場可規畫邏輯陣列 (field programmable gate array, FPGA)將之實現。此交流伺服馬達向量控制IC (AC servo motor vector control IC)定名為DMC-3000, 可同時適用於同步馬達與感應馬達之向量伺服控制,主要架構包含三部份: 電流向量控制、解耦控制及伺服控制。為了簡化設計與降低硬體實現之複雜度, 本論文採用模組化設計,將主要單元再細分為各個功能單純的模組。本文同時分析系統需求, 探討位元長度及控制IC之規格,除了伺服控制之速度命令與回授量以十四位元2's補數方式實現外, 電流向量控制、解耦控制、微處理器介面及所有控制器參數均以八位元2's補數方式實現。 在周邊處理能力方面,可直接將電流回授量及速度回授量由類比/數位轉換器及增量光編碼器取得, 不需透過微處理器。微處理器可對此控制IC調整與觀測各個參數及變數, 所有參數及變數均可在線(on-line)及即時(real-time)讀出或寫入, 且控制模態亦具有可程式規畫之特性,使用者可選擇電流向量控制器或交流馬達速度控制模態。 此控制IC將磁通模型(flux model)交由外部微處理器實現, 在相同硬體架構下定義滑差角度與d軸電流兩個暫存器供外部微處理器使用, 即可達成交流感應馬達的向量控制。實驗結果顯示,此控制IC具有良好之性能, 僅使用約25000閘數目(gate count)即可實現完整的交流伺服馬達向量控制架構。

ABSTRACT

This thesis presents a hardware circuit architecture of a fully digital vector control IC for ac servo motor using the field programmable gate array (FPGA). The modular design approach has been proposed to simplify the design and realization. The vector control IC for ac servo motor named DMC-3000 can be used for the vector control of both permanent magnet synchronous motor and induction motor. The constructed IC consists of three major parts: a current vector control module, a decoupling control module, and a servo loop module. Specifications of the DMC-3000 are determined based on practical application considerations. Bit length effect of the control IC has been analyzed. Current feedback from the analog-to-digital converter and position feedback from the quadrature encoder can be directly interfaced to the developed motor control IC. The DMC-3000 can be incorporated with a digital signal processor (DSP) or a microprocessor to provide a simple solution for ac servo motor control. The control and status registers of the DMC-3000 can be on-line adjusted or monitored. A rotor-flux angle register has been designed in the proposed DMC-3000, therefore, the flux model for the decoupling control of an induction motor can be easily realized by its co-processor. About 25000 gate counts are used to realize the proposed control scheme. Experimental results have been given to verify the design and implementation of the proposed control IC.