Abstract: IRMCK201 is the digit motion control chip which the American International Rectification Company develops, is aims at the servo drive system to design specially. This component may realize the complete speed ring and the electric current link control, has the fast high performance servo driving force. In the article introduced in detail the IRMCK201 major function, the characteristic and the main connection, and gave one to apply in numerically-controlled machine tool’s exchange servo drive system’s example.
Key word: IRMCK201; Exchanges the servo; Vector control; Space vector pulse-duration modulation
1 outline
The international rectification component company (IR) the demand glimmer scoop which actuates in view of the high performance exchange servo shoots a look at the talented hissing sound to actuate the control solution IRMCK201 chip in the FPGA technology complete servo. Is different what with the traditional motion control special-purpose DSP chip, IRMCK201 not only contains the motion control periphery function like PWM, the code counting circuit, the electric current sensing connection and so on 牐 moreover also to contain the FOC algorithm which and the speed control algorithm realizes through the hardware, thus has abbreviated the programming duty 熂 jie high performance AC servomechanism’s design, in addition it is also suitable for the different type magnetoelectric machine or the asynchronous machine, thus has the very good application prospect.
IRMCK201 uses the standard 100 base pin seal form, its main electrical characteristic is as follows:
* complete electric current closed-loop control and speed closed-loop control;
* uses the PWM carrier frequency to be possible to dispose the speed and the electric current turnover rate;
* may dispose the asynchronous machine or magnetoelectric machine’s control system;
* belt dead area space vector PWM;
* biggest clock input 33.3MHz, biggest PWM carrier frequency 83.3kHz, electric current link band width 5.5kHz, speed ring turnover rate 5/10kHz;
* has with high-pressured rectilinear current sensor IR2175, high-pressured actuation chip IR213x, Hall a/B/C signal, the electro-optical encoder, RS232 or RS422, the fast SPI connection;
Figure 1
* disposition electro-optic coded disk line number scope from 200PPR~10000PPR;
* may monitor the direct-current bus bar voltage;
* may dispose the simulation reference input;
●2MHz counter improvement low-speed performance;
* has a/D transformation connection which 4 groups sampling/maintain;
* through the main engine register connection, AT24C01A may carry on the initialization to the internal data/parameter;
* intelligent IGBT protection blockade control;
* may necessary use ServoDesigner to dispose the tool software.
2 IRMCK201 interior function structure
Figure 1 is the IRMCK201 interior detailed control structure drawing. Might see from the chart, takes the motion control chip, IRMCK201 has had the control unit which on the hardware the servo-control must, like belt dead time establishment’s space vector PWM, the PARK transformation and the Clark transformation, the electric current surrounded the PI regulator, the speed ring PI regulator, the velocity measurement unit and so on, such user has omitted the compilation code duty, simplified the complex design process.
IRMCK201 realizes the servo-control function through the hardware logic, the chip connection may dispose nimbly, thus to realize the different control algorithm, may carry on the parameter establishment through the connection to IRMCK201. Take vector control’s asynchronous machine as an example, has a forward feed slip form gain way in the internal control structure, may realize this kind of control function through the establishment related register. That is, the superior machine only need “1″ or “0″ reads in the related register, may cause this control function IRM-CK201 also to support other structures, like besides in the IR2175 electric current sensor connection chip, current control’s forward feed gain way enables/to forbid, the closed loop speed control to enable/to forbid as well as the speed given value choice and so on. That is uses the IRMCK201 disposition server, only need understand that it internal functional module and register’s situation, and carries on the disposition through the superior machine to its register, then rapidly realizes each kind of function. For example, must establish a turn-on frequency as the invertor is the 10kHz PWM driving signal, the user does not need the write program code to realize this PWM signal algorithm, only needs to the related register evaluation then.
IRMCK201 main engine correspondence connection including RS232/RS485/RS422, fast SPI connection and 8 bit parallel connection. Therefore it may facilitate and the main engine or the controller carries on the correspondence, revises and reads its master control register to control the output. IRMCK201 may also move independently, but does not need the exterior main engine to participate in the control, its operational factor preserves through exterior EEPROM, on when electricity reads the parameter automatically from EEPROM.
Presently take has the electric current link and speed ring’s permanent magnetism not brushes the motor control system as the example, the analysis system’s structure.
Enables the speed closed-loop control through the disposition related register. Regarding the electric current link, by the electric current sensor IR2175 sampling electrical machinery V and the W phase winding electric current, may obtain the U interphase current after the IRMCK201 interior computation, composes the three-phase current together with V and the W interphase current, decomposes through the Park transformation and the vector rotation to produce the magnetic flux exciting current component and produces the torque torque current component 熣 to put in order the reef fu to stretch the condyle to roast shen unloads lazily⒌Seeks the soil integral controller. Regarding the speed ring, by the electro-optic coded signal through the IRMCK201 interior measured that the fast unit receives the velocity feedback, it compares mutually with the speed given value has the jitter. This deviation produces corresponding torque current Iq after the speed PI regulator, when uses the Id=0 control, Id, Iq are the closed current link’s given values, they will have the electric current deviation 煹 fine linen bin difference with the actual feedback electric current comparison to surround the PI adjustment after the electric current later to produce output voltage Us-q and Us-d 熢 transfer coordinate system d, q attentively. After voltage Us-q and Us-d becomes by the inverse transformation under the static coordinate system’s voltage component 熑 slow fou space vector PWM computation, 煾 invertor’s power module send out the appropriate switching signal, the control power module switch work.
3 IRMCK201 input output interface
As shown in Figure 2, the IRMCK201 input output interface mainly includes the main engine communication connection, the PWM gate extremely signal connection, the orthogonal encoder connection, the main engine communication connection, a/D connection, the serial EEPROM connection, the phase-locked loop and the system clock connection, the control input and the status indicator connection, the electric current sensor IR2175 connection.
3.1 PWM gate extremely signal connection
IRMCK201 provides 6 group SVPWM output 熗 ü light pair and the three-phase bridge actuates chip IR2136 to carry on the connection to actuate MOSFET or the IGBT 熞 tree top disaster benzene blesses the shin qiao wan Beta oath? liang ǎ Sang Xiaoting the ┑ mold steep small tinkling bell moves the signal connection to be connected. Simultaneously also provides the actuation breakdown feedback connection.
3.2 main engine communication connection
IRMCK201 has provided many kinds and the exterior main engine correspondence way. The main engine may through RS232/RS422, the SPI connection or 8 bit parallel connection disposes and supervisory system’s movement. The RS232/RS422 mailing address may carry on the choice according to the communication distance.
The RS232 connection carries on the level switch through MAX232, it allows PC to make register’s disposition revision and the condition read directly to it, the correspondence baudrate may establish through the exterior pin. In the SPI connection way, the chip is from the way, the correspondence highest clock may reach 8MHz, may realize with the main engine high-speed service. The different mailing address usually is at the state of activation, may cut mutually 煹 cannot also move.
3.3 orthogonal encoder connection
IRMCK201 has the electro-optical encoder interface circuit 熆 tree top park prize to mow surprised mallet tree top Huan Aoou the control system. It may 熉 chen until be 200~10000/transfers with many kinds of encoder connections 熉 chen goes toward a German gang li gauze zheng to guarantee stops the decayed tooth. The encoder connection has mutual orthogonal ENA, the ENB coded signal and zero sign signal connection, meanwhile has three group HALL signal input connection. On system when electricity may through the HALL sensor and the Z pulse estimate encoder starting value.
3.4 control inputs and status indicator connection
The control input signal including the start, the stop, the rotation direction, the output enables, the breakdown replacement, the main engine condition and so on; Status indicator signal including system failure instruction, synchronization indication and two bi-color indicating lamps. May through to input the pin the operation to control electrical machinery’s movement directly.
3.5 electric current sensor IR2175 connection
The IR2175 rectilinear current sensor may transform the electric current signal from the servo electrical machinery’s high-end driving circuit to low end driving circuit 熞 chong 刂 frequency pian Fang Xing processes. Connects a sample resistance in the servo electrical machinery phase winding return route, produces a very small alternating voltage signal along with the electrical machinery interphase current’s change 熑 ⊙ resistance both sides to take IR2175 the input, its output is the frequency is 130kHz, the dutyfactor along with the electric current size change PWM digital signal, underwent the level switch, the PWM signal is transformed take the place as the reference point signal. IR2175 input voltage range of variation for - 260mV~ 260mV, therefore the excess current winds through time the sample resistance produces the voltage to be smaller than or to be equal to 260mV. Regarding signal processing, may carry on directly the IR2175 transmitted light pair with IRM-CK201 the connection, carries on the electric current computation again in the IRMCK201 interior.
3.6 A/D connections
IRMCK201 has provided directly with ADS7818 a/D switch connected connection, may input four group simulated signals through multi-channel multiplexer CD4052, respectively two group interphase current signals which be the rotational speed or the torque dimension control’s analog input, the direct-current bus bar voltage’s sampling input and other electric current sensor like HALL electric current sensor sends. But here sampling’s interphase current signal can only take the overflow protection, cannot take the electric current link’s feedback, i.e. ADS7818 may not substitute for the IR2175 paraphrase electric current to carry on the sample.
4 applications
This article used IRMCK201 and TI Corporation’s DSP chip TMS320LF2407 designs has applied not brushes the AC servomechanism in numerically-controlled machine tool’s permanent magnetism.
4.1 system hardware design structure diagram
System’s structure diagram as shown in Figure 3, the overall system is composed of the following several parts:
(1) control section
This AC servomechanism control circuit mainly by TMS320LF 2407, IRMCK201 and the few peripheral circuits is composed. DSP uses in completing IRMCK201 the initialization and system snap ring control algorithm realization, and completes system’s keyboard and the demonstration function. The IRMCK201 internal hardware circuit completes system’s electric current link, the speed ring control, produces the SVPWM driving signal finally, completes to the power module stop-go control, simultaneously carries on the monitor through a/D connection to the bus bar voltage, realizes the overvoltage protection function. The system uses 2000PPR the increase type electro-optic coded disk and the Hall sensor survey electrical machinery position and the rate signal, uses the IR2175 electric current sensor paraphrase electric current sampling, because IRMCK201 has provided the IR2175 connection, therefore the sampling electric current signal may deliver IRMCK201 to take the control section directly the current feedback. In order to increase system’s anti-jamming, this system will use the high speed light pair the systematic control section and the power part carries on the isolation.
(2) main circuit part
This system’s main circuit is the AC-DC-AC inversion electric circuit. Input three-phase AC voltage after rectification, filter obtains the DC voltage supplies invertor. The power component uses IR Corporation’s intelligent power module IRAMS16UP60A, it including three-phase high-pressured high speed actuation integration chip IR2136 and 6 IGBT, its input driving signal’s upper frequency may reach 20kHz.
4.2 system programming
Because system’s electric current link, the speed ring control and the overflow, protection functions and so on pressure, undervoltage have realized by the IRMCK201 interior hardware, therefore the system software is mainly realizes the AC servomechanism snap ring’s control and to the IRMCK201 communication with DSP, the programming is quite comparatively simple. Shown in Figure 4 for the DSP master routine flow and the snap ring interrupt servicing subroutine.
This system used the IRMCK201 chip, the union has used TI Corporation’s DSP chip TMS320LF2407, simplified system’s software and hardware design greatly, reduced the system development cycle, enhanced system’s reliability, thus has realized the high performance AC servomechanism.
