MoTIonchip is a high-performance dedicated motion control chip that is easy to expand and easy to use. Based on the chip, an intelligent servo driver for DC brushless/brushless servo motor is designed. The driver is applied to the hydrogenation reactor ultrasonic detection imaging system. The host computer controls the DC brush motor through the 485 bus. And the brushless motor has achieved good control effect and satisfies the high precision requirements of the system.
In the conventional motor servo control device, one or more single-chip microcomputers are generally used as the core processor of the servo control. Due to the complicated peripheral circuit of the servo controller, the calculation speed is slow, resulting in an unsatisfactory control effect. In recent years, many new motor control algorithms have been studied and applied to motor control systems such as vector control, direct torque control, and the like. As these control algorithms become more complex, processors with high-speed computing capabilities are required to achieve real-time calculations and control. In order to meet this need, many foreign companies have developed high-end single-chip microcomputers and digital signal processors (DSPs) for controlling motors. Nowadays, the control core part of the commonly used servo controller is mostly composed of DSP and large-scale programmable logic device. This scheme can flexibly design a dedicated servo controller with good performance according to different needs, but the general development cycle is longer.
MoTIonChip features
MoTIonChip is a high-performance and easy-to-use motor motion control chip developed by Technosoft of Switzerland. It is a TMS320C240-based DSP with many programmable configuration pins for motor servo control. TMS320C240 is a 16-bit fixed-point digital signal processor for motor control introduced by TI Company of the United States. It has high-speed computing power and peripheral interface circuit designed for motor control. MotionChip makes good use of the advantages of this DSP, and integrates a variety of motor control algorithms to simplify the user's design difficulty, designed to become a novel motor-specific control chip. MotionChip has the advantage of integrating all the necessary configuration features on a single chip. It is an ideal core processor for fast, low-input design of all-digital, intelligent drivers for a wide range of motor types. Has the following characteristics:
· Can be used to control 5 types of motors: DC brush/brushless motor, AC permanent magnet synchronous motor, AC induction motor and stepper motor, and easy to embed in the user's hardware structure;
· It can choose to work in independent or master-slave mode, and can be set to cooperate with multiple servo controllers through network interface as needed;
· The implementation of all digital control loops, including current / torque control loop, speed control loop, position control loop;
· Can realize various command structures: open loop, torque, speed, position or outer loop control, microstepping control of stepper motor, and configuration of control structure, including AC vector control;
· Can be configured to use a variety of motion and protection sensors (position, speed, current, torque, voltage, temperature, etc.);
· RS232/RS485 communication and CAN bus communication can be realized by using various communication interfaces;
· Based on Windows95/98/2000/ME/NT/XP platform, powerful IPM Motion Studio advanced graphical programming debugging software: Quickly set and adjust various parameters and program motion control program through RS232. Its powerful motion language includes: 34 motion modes, decisions, function calls, event-driven motion control, and interrupts. Therefore, it is easy to develop and use.
· PC control can be realized by VC/VB through the dynamic link library TMLlib; it can also be seamlessly connected with Labview and PLC. Through the dynamic link library, the user can develop the control program of the motor in the upper layer and study the control strategy.
Motion control system design
This article is based on MotionChip as the controller core, DC brushless motor / brush motor / permanent magnet synchronous motor for servo drive design. The design specifications are: adapt to 12-36V wide range DC bus voltage input, industry standard 5V logic power input, maximum output current 3A, peak current 6A. Before the design of the servo controller, the overall function design according to the characteristics of the MotionChip and the characteristics of the servo motor is as follows:
· Three-ring structure with position loop, speed loop and current loop; PID regulator is used for the three rings; the motor parameter setting adopts the combination of computer-aided calculation and engineering setting;
· It has a universal servo controller interface, and can be used to set independent parameters by using the provided man-machine interface. There is a network communication interface for independent parameter setting, and a network communication interface for external monitoring and control.
The overall system structure of the servo system can be divided into: MotionChip minimum system, drive circuit, current feedback detection, external control interface, communication interface, etc., as shown in Figure 1. The hardware structure of the servo drive is divided into two main parts: the drive circuit part: mainly including the inverter bridge, the front drive, and the current detection;
Control circuit part: including feedback detection, external control interface, communication interface, MotionChip minimum system.
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