Design Of Servo Control System Based On ARM And FPGA

In recent years,chip technology has developed rapidly,and the requirements for precision construction and processing have become more stringent.At present,my country still relies on foreign technology in this industry.In particular,the US sanctions on China's chip industry have exposed my country's shortcomings in industrial manufacturing capabilities.In order to break foreign technical blockades and other issues,we must overcome precision electronics manufacturing.The problem of"stuck neck"is to create a complete ecological chain belonging to our country.Among them,the servo control system undoubtedly occupies the core position in the precision electronic manufacturing,but the traditional servo control also has its shortcomings.For example,the traditional closed-loop position control ignores the friction and the platform elastic deformation that cause disturbances to the control system,resulting in actual During the control process,the moving target cannot reach steady state as soon as possible.Therefore,this paper takes the rigid-flexible coupling platform as the control object.The characteristic of the platform is that macromotion platform and micromotion platform are connected by flexible hinges.The deformation between the two is measured by dual sensors and then the corresponding algorithm is used to estimate the disturbance.Finally,the inner frame is driven.The frame platform deforms the flexible hinge,thereby making up for the friction dead zone.Since the existing servo drive does not have the function of disturbance measurement and the function of custom control algorithm,the servo control system in this article has carried out research on the insufficiency of the servo starter and the characteristics of the rigid-flexible coupling platform.The main research contents of this article are:(1)Investigated the functions and structural characteristics of servo control systems,and explained and compared the current mainstream PMSM control methods and modulation methods.By comparing the features of various control algorithms,a vector control algorithm is selected to control the PMSM.The finally selected control mode of_di(28)0 deploys the control algorithm in the FPGA.(2)The controller of the servo drive system requires both flexibility and real-time.According to the requirements of the system design,and finally chooses the more cost-effective STM32H7 and EP4CE22 chips to form the heterogeneous main control core,taking into account the performance requirements of both data processing accuracy and processing speed.Among them,ARM is responsible for the upper-level high-level arithmetic operations and communication functions;while the FOC operations and signal acquisition functions that require high real-time performance are in charge of FPGA.(3)According to the required functions,the hardware circuit of the integrated drive and control controller is designed.The suitable hardware driver is written and the appropriate embedded system is transplanted.This text chooses Free RTOS operating system as the system framework of ARM main control,and FPGA is responsible for multiple parallel tasks.ARM and FPGA communicate through the FMC bus.ARM performs arithmetic operations on sensor data by reading the corresponding registers,and then writes the corresponding registers,and finally configures the FPGA to drive the PMSM.Finally,it shows that the prototype of the integrated drive and control controller has perfect functions and can better control the operation of the PMSM.The FOC algorithm and encoder driver are integrated in the FPGA to realize multiple encoders and 25KHz current loop frequency to meet the secondary development of the later period.