基于ZYNQ平台的嵌入式高性能驱动控制研究

Research on embedded high-performance drive control based on ZYNQ platform

摘要:

针对传统的光电平台驱动控制方案闭环周期长和体积大的问题，提出了一种基于ZYNQ平台的驱动控制方法。通过采用模块化设计思想，充分发挥ZYNQ中PL部分的并行处理优势，建立对应CLARK变化、PARK变换、交直轴电流PI校正、反PARK变换和SVPWM模块的IP核，最终输出PWM信号控制驱动桥六个桥臂的开关状态。系统的PWM周期可达18 kHz，电流环的闭环周期可控制在50 μs以内，极大地缩减了系统的闭环时间。实验结果表明，电交轴电流可以快速跟随方波和正弦波指令信号，且对应电机的三相电流平滑无畸变，纹波较小。不同频率的正弦输入信号证明了系统的闭环带宽可高于318 Hz，验证了方法的有效性，对于实现小型化高精度的伺服驱动控制具有重要参考价值。

Abstract:

Aiming at the problems of long closed loop period and large volume in the traditional drive control scheme of photoelectric platform, this paper proposes a drive control method based on ZYNQ platform. By adopting the modular design idea and fully exerting the parallel processing advantage of the PL part in ZYNQ, the IP cores corresponding to the CLARK transform, PARK transform, PI control of quadrature axis and direct axis, inverse PARK transform and SVPWM module respectively are established. PWM signals are finally output to control the on-off state of the six drive arms. The PWM period of the system can reach 18 kHz, and the closed-loop period of the current loop can be limited within 50 μs, which greatly reduces the closed-loop time. The experimental results show that the response current of the quadrature axis can quickly follow the square wave and sine wave command signals, the three-phase current of the motor is smooth without distortion, and the ripple is small. The sinusoidal inputs with different frequencies are given to verify that the closed-loop broadband is higher than 318 Hz, which validates the effectiveness of the proposed drive control method in the paper. It has important reference value for realizing miniaturization and high-performance drive control.