以 FPGA 為基礎三軸平台運動控制演算法則高速化之研製
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Transcript of 以 FPGA 為基礎三軸平台運動控制演算法則高速化之研製
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FPGA
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*Outline
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* FPGA()
FPGA//(SVPWM)/PI
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*2.1
2.2
2.4(SVPWM)
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*2.1
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*2.2
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*2.3 (SVPWM)3 1
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*3.1IPExample: Parallel processing:
Sequential processing using Finite state machine (FSM):one multiplier and one adderthree multipliers and two addersNear one clock execution timeFive clocks execution timeMultiplier is large utilities consumption in FPGA
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*3.2IP
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*3.3 IP
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*3.4 IP
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*3.5 System-on-a-Programmable-Chip(a)(b)
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*Quartus IISoPC
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*3.6 -
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*3.7 -a
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S xiX yiY
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*4.1
XYZXY30cm0.5cmZ15cm0.5cm
SYNCHRONOUS SERVO MOTOREncoder 2500 P/RRa : 0.63 RLa : 2.77 mHVOLTS 92 VAMP-S-1.6 AOUT : 200WTORQUE : 0.64 (N-m)NR.rpm - 3000-Protection : IP65Nmx -3000 rpmPoles: 8
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*4.2 IP
FPGA
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*IPSVPWM
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*KpKiKpKiPI
PIPIKPkp=0.02441 (12bitQ11800)kp=0.9760 (16bitQ1532000)KIki=0.0003 (12bitQ1110)ki=0.0003 (12bitQ1110)
PIPIPIKPkp=0.02441 (12bitQ11800)kp=0.02441 (12bitQ11800)kp=0.45776(12bitQ11800)KIki=0.0003 (12bitQ1110)ki=0.0003 (12bitQ1110)kp=0 (12bitQ11800)
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FPGA
(1)
(2)2.308 s1.948 s5.668 s
(3)SoPC
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Thank you for your attention.
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