Design Based On Zynq For Synchronous Permanent Magnet Motor Control System

With the development of the homing head,the servo controllers are required to be smaller,more flexiable and have a better computing performance.Although people try to use multiple CPUs to adjust the requirements,however it add the complexity of system and has no more space to improve.Xilinx’s Zynq which is a high-performance So C chip can control several motors at the same time.Zynq prove a new way to design the controller for homing head.So it is necessary to study the control system of heading head motor which bases on Zynq,and design the software and hardware to build a full system.Bases on classic field oriented control(FOC),the open control model of voltage-current and velocity-torque were built.To get a better control performance,the current closed loop and velocity closed loop are which were based on PI controller were built.Besides.In order to improve the intelligent level of control system,particle swarm optimization(PSO)was used to help automatic tuning PI parameters,the evaluation function was built to evaluate the result of tuning.Simulations of motor speed loop and current loop were made to prove the feasibility of the method.The software of control system was completed in Lab VIEW platform.The framework can be divide into three parts: ARM,FPGA and PC.The data monitor and user interface were implemented on PC,the communication adapter and PSO algorithm are implemented on ARM,the some control modules like PI,CORDIC,SVPWM were implemented on FPGA.To realize a high communication bandwidth,the AXI bus was used between ARM and FPGA,the network streams protocol were used between PC and ARM.Building the hardware of control system,the my RIO-1900 development board was chose as the control board,the power drive board and sensor board was designed to help with it.To get a better performance,the theory of mosfet was studied,some improvement were given.After testing the hardware and software of control system,the result shows that the turn-on time of top bridge was short,but the bottom bridge was long with the miller effect.The echo time of current loop and velocity loop was improved obviously,however the servo precision was not improve too much.If an appropriate weight of overshoot was chose,the pso tuning can get a good result.