Design Of Photoelectric Theodolite Servo Controller Based On DSP And FPGA

This article takes the development and application of the photoelectric theodolite as the research background,and designs a photoelectric theodolite servo controller based on DSP and FPGA to control the turntable servo system.First of all,this article adopts the method of vector control,the three-phase permanent magnet synchronous torque motor is simplified to obtain the mathematical model of the DC motor.The target tracking turntable servo control algorithm uses a position and speed double closed-loop control system.According to the motor performance parameters,the open-loop transfer function of the system is obtained.The system performs correction algorithms in the frequency domain to improve the response speed and steady-state performance of the system.The equivalent sine method is used for algorithm verification to verify the target tracking error of the controller.Secondly,according to the system requirement,carry on the overall scheme design,each part of the chip selection and analysis design.Including the use of SMJ320C6701 to realize the control core algorithm;the use of A3PE3000 to realize bus transmission and data interaction with DSP;using SJA1000,PCA82C250 as CAN bus controller and the interface between the bus;absolute photoelectric encoder as angle measuring element,and M/T method for speed measurement.Then,design the hardware circuit of the controller for the system scheme.Including the power on and off of the module,the primary power supply slow start circuit,and the power distribution circuit for the secondary power generation function;the bus interface circuit that completes the bus command reception and telemetry polling;DSP and FPGA minimum system hardware circuit;after bootstrapping and amplification A three-phase bridge drive circuit that generates a drive signal;a Hall current acquisition circuit that participates in the current closed loop;an angle measurement interface circuit that uses RS422 level differential transmission.Finally,design the software part of the turntable servo system.The controller designed in this paper can ultimately improve the response speed and steady-state performance of the system,and achieve functions such as rapid target acquisition,real-time target tracking,and precise angle measurement.