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.
0-7803-8269-2/04/$17.00 (C) 2004 IEEE. 1604
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