CN104678967B - General industrial computer joint DSP realizes PWM controller Rapid Prototype Design method and apparatus - Google Patents

Abstract

The invention discloses a method and equipment for realizing the rapid prototyping design of a PWM controller by a general industrial computer combined controller. The present invention utilizes the existing xPC target technology to convert the large-step off-line simulation model into an actual control prototype, download it to a general industrial computer for real-time operation, and run a small-step control algorithm on the DSP, that is, the general industrial computer operates at the system level The control method outputs the reference quantity signal of DSP, and the DSP receives the reference quantity signal sent by the general industrial computer to generate the corresponding control signal SPWM pulse signal. The control C code is automatically generated by the Matlab toolbox, and the control prototype is quickly generated. At present, the rapid prototyping equipment produced by manufacturers is very expensive, and the price is hundreds of thousands. However, the hardware required by this method, such as a general-purpose industrial computer, a data acquisition card, a DSP control board, etc., costs less than 10,000 yuan. Therefore, the design method of general industrial computer combined with DSP to realize the rapid prototyping of PWM controller is a more advantageous rapid prototyping solution.

Description

General industrial computer combined with DSP to realize rapid prototyping method and equipment of PWM controller

technical field

The invention relates to automatic industrial control technology, in particular to a method and equipment for realizing a rapid prototype of a PWM controller by combining a general industrial computer with a DSP.

Background technique

The power system is huge and complex, and the workload of system analysis and design is very large, which also limits the use of physical simulation methods for system research. In recent years, the rapid development of digital simulation technology has greatly improved the feasibility of modeling and simulation research on complex power systems. Digital simulation provides theoretical credibility and feasibility verification, but if it is converted into an actual usable device or program, additional design is required, and the designed equipment is directly used for electric power experiments, which has poor safety, high cost and low efficiency. At present, rapid prototyping design is to carry out product design in the virtual environment as much as possible, so as to shorten the product development cycle and reduce the development cost. Before product development, the new control method of the designer can be carried out conveniently and quickly on real-time hardware test. Through real-time testing, existing problems can be found in the early stage of design, so that the prototype or parameters can be modified, and then real-time testing can be carried out. This is repeated, and finally a reasonable and feasible control prototype completely oriented to user needs can be produced. Existing rapid prototyping equipment such as dSPACE, RapidECU, etc. are very expensive, and the code operation requires high real-time performance and a large amount of calculation. A single chip cannot meet the real-time calculation requirements. Therefore, an economical and efficient rapid prototyping is developed. Design method appears to be very necessary.

Contents of the invention

The technical problem to be solved by the present invention is to provide a general industrial computer combined with DSP to realize the rapid prototyping method and equipment of PWM controller.

The present invention is realized in this way: the general industrial computer unites the DSP to realize the rapid prototyping method of the PWM controller, runs the large-step control algorithm on the general industrial computer, outputs the reference quantity signal of the DSP, and runs the small-step control algorithm on the DSP, and the DSP Accept the reference signal sent by the general industrial computer, and generate the corresponding SPWM pulse signal; the control algorithm is based on the Matlab toolbox to automatically generate C code, and realize the PWM controller by converting the offline simulation model into an actual control prototype. Rapid prototyping.

Experimental equipment, including general industrial computer, DSP and upper computer, the data acquisition card is connected to the acquisition card interface of the general industrial computer, the external expansion I/O board of the DSP is connected to the data acquisition card on the general industrial computer, and the general industrial computer , DSP and host computer are all connected to the network port of the switch.

The structural block diagram of rapid prototyping system of the present invention is as Fig. 1, and this method hardware is mainly made up of general industrial computer and DSP control panel, and multifunctional data acquisition card is installed on the general industrial computer, is used for the acquisition of data and sends, utilizes existing The xPC target technology transforms the large-step off-line simulation model into an actual control prototype, and downloads it to a general-purpose industrial computer for real-time operation, and runs a small-step control algorithm on the DSP, that is, the general-purpose industrial computer operates a system-level control method, and outputs the DSP The reference quantity signal, DSP receives the reference quantity signal sent by the general industrial computer, generates the corresponding control signal SPWM pulse signal, and the control C code is automatically generated by the Matlab toolbox to quickly generate the control prototype. At present, the rapid prototyping equipment produced by manufacturers is very expensive, and the price is hundreds of thousands. However, the hardware required by this method, such as a general-purpose industrial computer, a data acquisition card, a DSP control board, etc., costs less than 10,000 yuan. Therefore, the design method of general industrial computer combined with DSP to realize the rapid prototyping of PWM controller is a more advantageous rapid prototyping solution. It can be seen that compared with the existing rapid prototyping equipment such as dSPACE, the method of the present invention has more economic advantages, and can carry out in-loop debugging experiments. Realize low investment in controller design, high efficiency, and safe debugging. The method of the invention is simple and has good application effect.

Description of drawings

Fig. 1 is a structural schematic diagram of the present invention.

Fig. 2 is the structure schematic diagram of the embodiment of the present invention;

Fig. 3 is a hardware structural diagram of an embodiment of the present invention;

Fig. 4 is the fan outlet voltage (per unit value) when the wind speed changes abruptly according to the embodiment of the present invention;

Fig. 5 is the fan power (per unit value) when the wind speed changes abruptly according to the embodiment of the present invention;

Fig. 6 is the rotor current (KA) when the wind speed changes abruptly according to the embodiment of the present invention;

Fig. 7 is the rotational speed (per unit value) when the wind speed changes abruptly according to the embodiment of the present invention;

Fig. 8 is the rated running stator current (KA) of the embodiment of the present invention;

Fig. 9 is the rated running stator voltage (KV) of the embodiment of the present invention.

detailed description

Embodiment 1 of the present invention: a general-purpose industrial computer combined controller realizes a rapid prototyping method of a PWM controller. Fig. 2 is a structural diagram of an embodiment of the present invention. The converter controller, the power transmission and distribution primary system and the primary part of the doubly-fed fan equipment are simulated by RTDS, simulating the characteristics of the primary and secondary equipment of the power system, setting various power system faults, and the secondary part of the fan equipment (power electronic converter controller ) is rapidly prototyped by a general industrial computer combined with a controller (DSP); the large-step control algorithm is run on the general industrial computer, and the small-step control algorithm is run on the DSP, which can effectively solve the requirements of real-time simulation calculation accuracy and calculation volume. Fig. 3 is the structural diagram of the hardware system of the embodiment, the general industrial computer runs the large-step algorithm, collects the parameters of the controlled object simulated by RTDS, generates the controller reference signal, and the DSP receives the reference signal sent by the industrial computer, and runs the small-step algorithm , send PWM pulse signal to drive the controlled object simulated by RTDS, RTDS simulates the primary equipment of power grid and fan, the data is exchanged with other equipment through the board, and the upper computer plays the functions of monitoring waveform, modifying parameters online, and generating code.

The structure of the experimental equipment is shown in Figure 1, including the general industrial computer 1, DSP2 and host computer 3, the data acquisition card 4 is connected to the acquisition card interface of the general industrial computer 1, and the external expansion I/O board of DSP2 is connected with the general The data acquisition card 4 on the industrial computer 1 is connected, and the general industrial computer 1 , DSP2 and the upper computer 3 are all connected to the network port of the switch 5 .

With the general industrial computer 1 as the core equipment, run the control code in the processor of the general industrial computer 1, use the data acquisition card 4 to collect the detection quantity required by the controller, and output the reference quantity signal through the data acquisition card 4, and transmit it to In the DSP2; the network port of the general industrial computer 1 is connected to the switch 5 to form communication with the upper computer 3, which can realize the parameter modification of the control code and real-time monitoring of the running status.

With DSP2 (DSP adopts the model 28335 in this implementation) as the core equipment, the reference quantity signal output by the general industrial computer 1 is collected through the external expansion I/O board, and the PWM pulse signal is output after DSP2 processing, and the drive control object. Connect the PC to the JTAG pin on the backplane of the DSP2, so that the DSP2 can compile and connect the control program through the CCS software in the PC7. At the same time, the network port of the DSP2 is connected to the upper computer 4 through the switch 5 to form communication with the upper computer 4 .

During use, the general industrial computer 1 is connected to the analog output card of the control object 6 (RTDS) through the data acquisition card 4, and the network port of the control object 6 is connected to the switch 5 to form a closed-loop control system. Complete the PWM control function to realize the in-loop design of the controller.

In this embodiment, the general-purpose industrial computer is used as the extreme control, and runs the real-time simulation large-step control algorithm, collects various parameters of the fan through the data acquisition card, outputs the reference voltage signal of the converter through vector control, and starts the industrial computer through the prepared U disk. Start the disk and run the C code downloaded by the host computer in real time. Since it involves the control of the frequency converter, in order to maximize the running speed, the industrial computer (xPC target machine) adopts the "polling" mode of operation, and selects a faster collection speed. The NI PCI 6251 multi-function data acquisition card minimizes the operation step size on the premise that the calculation time does not overflow. The NI PCI 6251 acquisition card is set to a differential acquisition mode, which reduces interference effects and improves acquisition accuracy; NI PCI 6251 is a multiplexing type, and the acquisition time of each channel is 1 microsecond, and the rated frequency of the fan in this embodiment is 50Hz, and The rotor current frequency is lower, and the error caused by asynchronous acquisition can be ignored.

Since it involves the trigger pulse of power electronic devices, PWM modulation has high requirements on the calculation step size, so it is necessary to use DSP as a "valve control", input the reference voltage signal generated by the general industrial computer through its analog input port, and run the PWM modulation code with small step size , which is more flexible than dSPACE devices whose modulation functions are already fixed.

In this embodiment, a comparative experiment is also carried out, using the scheme of the embodiment and the existing dSPACE equipment rapid prototype double-fed fan controller, and an online real-time simulation experiment based on the RTDS simulator.

At 0.6s, the wind speed changes suddenly, and the wind speed changes from 8m/s to 12m/s. Figure 4(a) and Figure 4(b) reflect that because the resistive parameters of the line cannot be ignored, the increase in the active power of the fan will slightly increase the terminal voltage of the fan, and the voltage is basically stable. . Figure 5(a) and Figure 5(b) reflect that the output power rises from 0.27 per unit to the rated value within 10s. Figure 6(a) and Figure 6(b) are rotor current waveforms, and it can be seen that the synchronous speed is reached in 5s. Figure 7(a) and Figure 7(b) reflect that the wind speed changes accordingly. Maintaining the optimum tip speed ratio for maximum power tracking. Figure 8(a) and Figure 8(b) rated operating stator current waveforms, Figure 9(a) and Figure 9(b) rated operating stator voltage waveforms. The picture marked (a) is the online real-time simulation waveform of the rapid prototype controller designed by the design method of the general industrial computer combined with DSP to realize the rapid prototype of the PWM controller, and the picture marked (b) is designed by using dSPACE equipment to design the rapid prototype control The device simulates the waveform in real time online. Comparing the online real-time simulation results, it can be seen that this embodiment achieves the same online real-time simulation effect as dSPACE equipment, and the simulation results are relatively ideal.

Claims (2)

1. A general industrial computer united with DSP to realize PWM controller fast prototyping method, it is characterized in that: utilize existing xPC target technology, large-step off-line emulation model is transformed into actual control prototype, and download on the general industrial computer Real-time operation, that is, run the large-step control algorithm on the general industrial computer, output the reference signal of the DSP, run the small-step control algorithm on the DSP, and the DSP receives the reference signal sent by the general industrial computer to generate the corresponding SPWM pulse The signals and control algorithms are based on the Matlab toolbox to automatically generate C codes, and the rapid prototyping of the PWM controller is realized by converting the off-line simulation model into an actual control prototype. 2. A kind of experimental equipment adopting the method as claimed in claim 1, comprises general industrial computer (1), DSP (2) and upper computer (3), it is characterized in that: in the acquisition card of general industrial computer (1) The interface is connected with a data acquisition card (4), and the external expansion I/O board of the DSP (2) is connected with the data acquisition card (4) on the general industrial computer (1), and the general industrial computer (1), DSP (2 ) and the host computer (3) are connected to the network port of the switch (5).