四轴电机伺服控制ASIC芯片  

Application specific integrated circuits of multi-axis motor servo controller

作　　者：刘亚静[1] 范瑜[1] 李铁才 

机构地区：[1]北京交通大学电气工程学院 [2]深圳航天科技创新研究院

出　　处：《电机与控制学报》2014年第6期29-35,共7页Electric Machines and Control

基　　金：国家自然科学基金(51077003);教育部高等学校博士学科点专项科研基金(20130009120032);中央高校基本科研业务费(2013JBM084)

摘　　要：针对采用串行架构、纯软件方式的DSP/MCU方案在多轴、高实时性、高性能场合所存在的不足,设计了一款全数字硬件化实现的四轴电机伺服控制ASIC芯片。充分结合ASIC所具有的全定制、并行、固化参数无法更改等特性,首先确定芯片的架构,将高实时性且相对固定的电机控制算法采用纯硬件方式实现,而灵活性要求较高的功能用嵌入式处理器实现;然后对四轴运动控制引擎的相关模块进行了高柔性化设计,重点介绍了四轴运动控制引擎的高柔性控制器、高柔性反馈检测单元、信号处理单元以及时序控制单元等,从而使芯片的灵活性和面积之间达到平衡。实验结果验证了芯片的正确性。The features of digital signal processor（DSP）/micro controller unit（MCU） include serial architecture and software model,but in high real-time and high performance occasion,there are deficiencies using DSP/MCU,so all-digital pure-hardware 4-axis servyo control application specific integrated circuits （ASIC） is proposed.In accordance with the characteristics of ASIC,such as full-customization,parallelism,and incorrigibility of curing parameter,chip architecture was developed firstly.Real-time and relatively fixed algorithms were realized by pure hardware,and high flexible algorithms were realized in embedded processor.Then the correlative modules of four-axis motion control engine were designed.The flexible controller,flexible feedback measurement unit,signal processing unit and timing unit were discussed in detail.Lastly,the experimental results verify the correctness and effectiveness of proposed chip.

关 键 词：伺服控制 多轴交流伺服 片上系统 全数字硬件化 高柔性 

分 类 号：TM921[电气工程—电力电子与电力传动]