The Research Of Intelligent Servo Based On DSP & FPGA

With the rapid development of industrial technology, the application of servocontrol system in satellite pose control, robot, precision machine tool has been more and more wide. The key point of design of servocontrol system with full closed loop control is how to make the servocontrol system to satisfy the response demand of steady and dynamic state. The key gist of the servocontrol system which uses BLDCM without position sensor as servomotor is the precise detection of commutating. Modern servocontrol system is not a single, but a system requiring multi-machine cooperation and long-distance control which asks for the establishment of bottom network and system's anti-jamming ability .The paper focuses on the servocontrol system with full closed loop control and presents the design of system and its improving method from two aspects: position loop modulation technology based on RBF network aimed at the uncertainty of full closed loop system is introduced and Control rules and on line self-study method of RBF network and actualizing process based on DSP are analyzed;the method of LMS adaptive noise counteraction to detect commutating signals of BLDCM is presented which uses the voltage to detect the commutating position signals and thus assures the motor work effectively in low rotate speed.Based on the rapid development of DSP technology, It is possible to achieve high control speed and faster response speed by substituting computer control system with DSP chips for microprocessor and microcontroller. The paper presents a control unit composed of TMS320F2812 DSP and FPGA chips of ALTERA Cor, discusses methods of parallel computation and pipelining and folding technologies in FPGA high speed digital signal process, finds optimum value, validates and debugs through arithmetic and function and timing simulation. Control method of RBF network and on-line study method are analyzed. DSP is used to achieve on-line study and control. SCI series port and eCAN interface integrated with DSP chips are used as system's communication ports which assure the system connect to CAN network as a single point and achieve the expand of system and multi-machine control, the problems and improving method are discussed and method based on SOC control system is presented in the end.