Design Of Single Channel Servo Controller Based On DSP

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.