基于ZYNQ7000的伺服控制平台设计  

Design of Servo Control Platform Based on ZYNQ7000

作　　者：王首浩[1] 郑起佳 孙宇伟 郭燕红[1] Wang Shouhao;Zheng Qijia;Sun Yuwei;Guo Yanhong(Beijing Institute of Precision Mechatronics and Controls,Beijing 100076,China)

机构地区：[1]北京精密机电控制设备研究所,北京100076

出　　处：《单片机与嵌入式系统应用》2021年第3期72-75,80,共5页Microcontrollers & Embedded Systems

摘　　要：本文设计了基于ZYNQ7000的伺服控制平台,发挥APSoC异构多核架构的优势,将电机控制驱动器常用的控制、采集和算法功能封装成统一的定制化IP核,作为协处理器集成实现并行化硬件加速,详细描述了几种IP核的设计、集成、使用方法和波形测试验证,研制了产品实物,通过了机电伺服系统测试验证。对比目前基于DSP为核心的电机控制方案,本方案具有集成度高、运算速度快、可扩展多电机同步控制等优势。In the paper,a servo control platform based on ZYNQ7000 is designed by analyzing the development trend of motor control driver such as high speed,high integration,multi-axis synchronous control,and more complex multi task system requirements.Thanks to the advantages of heterogeneous multi-core architecture of APSoC,functions like control,acquisition and algorithm are packaged to be customized IP cores which realize parallel acceleration as coprocessors.The design,integration,application method and waveform test verification of several IP cores are described in detail.The product is developed and has passed the test verification of electromechanical servo system.Compared with the current motor control scheme based on DSP,the scheme in the paper has the advantages of high integration,fast computing speed and extended to multi motor synchronous control capacity.

关 键 词：电机控制驱动器 ZYNQ7000 AXI4 IP核 

分 类 号：TP275[自动化与计算机技术—检测技术与自动化装置]