FPGA实现高性能PMSM伺服电机控制器：全数字化设计与应用

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本文探讨了基于FPGA的高性能伺服电机控制器的设计与实现，主要针对永磁同步电机(PMSM)驱动系统。作者们，周兆勇和李泰才，来自哈尔滨工业大学电气工程系，提出了一种全数字化硬件设计策略，该方案将向量控制策略、M/T速度测量算法、PID调节技术、SVPWM原理以及EAD设计方法集于一体，旨在提升伺服电机驱动的性能并替代传统的PMSM控制方式。 FPGA（现场可编程门阵列）在这一设计中起到了关键作用，它实现了单芯片上的集成，提供了高度灵活性和实时性。通过FPGA，设计者能够实现精确的速度和扭矩控制，同时优化了动态响应和效率。该控制器采用了向量控制技术，这是一种先进的电机控制策略，能够有效地管理电动机的电磁转矩，从而实现高精度的定位和运动控制。 M/T速度测量算法用于实时监测电机的磁通和转速，这是向量控制的基础，确保了电机按照预定的指令运行。PID（比例-积分-微分）调节技术被用于稳定控制器的输出，确保电机运行在最佳状态。SVPWM（正弦调制脉宽调制）则被用来生成高质量的PWM波形，减少了开关损耗，提高了电机的功率密度。此外，控制器还包含一个标准的主机通信接口，支持在线配置各种控制参数，方便用户根据实际需求进行调整，增强了系统的可扩展性和易用性。实际的扭矩环和速度环采样频率受限于所选的FPGA，这决定了系统的性能上限和实时处理能力。本文的FPGA实现方案为高性能伺服电机控制器提供了一个创新且实用的解决方案，不仅提高了控制精度和效率，还简化了系统架构，有望在工业自动化和精密机械等领域得到广泛应用。

FPGA Realization of a High-performance

Servo Controller for PMSM

Zhaoyong Zhou and Tiecai Li

Department of Electrical Engineering

Harbin Institute of Technology

Harbin, China

E-mail: zhouzy@hit.edu.cn

Toshio Takahashi and Eddy Ho

Digital Control IC Design Center

International Rectifier

California, USA

E-mail: ttakaha1@irf.com

Abstract—This paper proposes a fully digitized hardware design

scheme of a vector-controlled servo controller, which is verified

and implemented on one-chip field programmable gate arrays

(FPGA), for high-performance servo drives of the permanent

magnet synchronous motor (PMSM). This scheme integrates the

vector control strategy, the M/T speed measurement algorithm,

the PI regulating technique and the SVPWM principle as well as

the EDA design methodology, and it will be a good substitute for

traditional PMSM drives practice. The realized control IC also

contains a standard host communication interface, which enables

the on-line configuration for all kinds of control parameters. The

actual sample frequencies of the torque loop and the speed loop

are limited by the selected FPGA; with respect to the Altera

FPGA prototype mentioned in this paper, the two loops can

respectively obtain a sample frequency of 40kHz and 20kHz as

well as a bandwidth of 5kHz and 400Hz. Experimental results

indicate that the controller can provide a controllable speed

range from 0.2 RPM to 10,000 RPM with satisfactory dynamic

and static performances.

Keywords-vector control; servo; FPGA; PMSM

I. INTRODUCTION

High performance AC servo drive depends on the well

control of the currents; however, the strong coupling and

nonlinear natures of the AC motors make it impossible to

directly control the stator currents to obtain the desired

performances as the behavior of DC motors. Hence, a specific

algorithm must be introduced to realize the decoupling of

relevant variables. Fortunately this problem has been resolved

by the vector control technology. The principle of vector

control, often referred to as field-oriented-control, was first

proposed by F. Blaschke of Siemens in the early 1970s for

controlling induction motors, and after several years of efforts

this method had been developed into a complete theory system

[1], [2]. In the latest twenty years, the vector control

technology has been used wider and wider in high performance

AC drives due to the rapid progress in power electronics,

computer and microelectronics.

In engineering practice, because of the complexity of

servo control algorithm, it is basically implemented with

software based on DSP [3]; this approach can provide a

flexible skill, but suffers from a long period of development

and exhausts many resources of the CPU. In some cases, dual

DSPs have to be adopted to achieve superior performances [4].

In recent years, a novel design methodology has arisen, that is

FPGA-based hardware implementation technology [5].

Compared with ASIC, FPGA is only a collection of standard

cells, which have none of specific functions, but owing to its

field programmable characteristics and reuse of the IP cores,

user can design his own ASIC according to their schemes with

professional placement and routing tools in a shortest time,

instead of participation of the semiconductor manufacturers. In

addition, since FPGA can carry out parallel processing by

means of hardware mode, which occupies nothing of the CPU,

the system can get a very high speed level as well as an

exciting precision. This new design methodology has been

used in high performance motion control field, such as [6]-[8],

which realize different current controller. In [6], the designed

digital current controller integrates both nonlinear ∆ modulator

and linear PI regulator and can obtain a very high bandwidth.

Literature [7] provides a co-processor scheme based on the

indirect vector control with current feed forward, and literature

[8] proposes a digital hardware implementation where it can

operate under different instructions. All these digital current

controllers have achieved very high performances, however, it

is obvious that these schemes have a common property that the

current is considered as a co-processor and the speed or

position control is implemented by DSP. As known to all,

position control is very flexible and difficult to generalize, but

the speed control is universal just as the current control, and

high performance speed control can be impossible without the

current control. Thus, it is necessary to integrate the speed and

the current into a single chip, which can be separately used as a

speed controller or a current controller; furthermore, the two

controllers can also be incorporated into a position control

system, as shown in Fig.1. If the FPGA has integrated CPU,

the position, speed and current control can be all implemented

with only one single chip, which will lead to a real SOC

(system on a chip), the important trend of high performance

motion control integration design.

This paper studies the current vector control, PI

regulation, feed back speed measurement and space vector

PWM, and presents their digital structures. These algorithms

are designed in International Rectifier iMOTION products such

as the IRMCK201/IRMCK202 digital control ICs, and being

applied to the real industry application. In detail, it is organized

as follows. In section II, vector control principle of the PMSM

is briefly reviewed and the relevant expressions are derived.

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