Altera单芯片伺服控制器方案详细介绍

IntegratedMotorControlWithAlteraFPGAsEnablingDifferentiationforNextGenerationDrivesWithAlteraFPGAElmerChiang,[e-mail]omationSystemATypicalIndustrialAutomationSystem2Fieldbus1/IndustrialEthernet1SCADAlevelSwitch/GatewayFieldbus2/IndustrialEthernet2OperatorRTUHMIPAC/MoitionControlPLCMulti-axisDrivesACPMSMMotorsI/OSafetyI/OServoDriveEnterpriseMasterSlaveChallengesforManufacturersTodayChallengesforManufacturersTodayPerformanceImprovementsTighter control loopsSupport for Industrial Ethernet protocolsHW/SW acceleration DifferentiationWhileLoweringCostsIntegrate functions with less componentsLeverage model‐based design flowMulti‐axes controlImplementingFunctionalSafetyUnderstanding & simplifying  Functional Safety qualificationCost overhead and time to market impact3ChallengeAcrossAllTypesofDrivesManufacturers28nmC-VSOCFPGADrive-On-A-Chip28nmC-VSOCFPGADrive-On-A-ChipDriveOnAChipFeaturesFunctionEmbeddedhighperformanceprocessorTaskoriented&Real-timeoperationasynchronouslyMotorControlAlgorithm5µslatency&FloatingPointsupportConnectivityMultiplereal-timeIndustrialEthernetprotocolsInterfacelogicEncoder,ADC,PWMcontrolFunctionalSafetyIPandtoolsSafety-qualifieddiagnosticIP4Agendas:Agendas:IndustrialNetworkingSingleFPGAformulti-standardServoDriveFOCcontroldesignmethodologyVibrationsuppressionsbyFFTanalysisDriveOnAChipreferencedesignFunctionalSafetyQualifiedFPGA,tools&designflow5Agendas:Agendas:IndustrialNetworkingSingleFPGAformulti-standardServoDriveFOCcontroldesignmethodologyVibrationsuppressionsbyFFTanalysisDriveOnAChipreferencedesignFunctionalSafetyQualifiedFPGA,tools&designflow6ComparingIndustrialEthernettoFieldbusComparingIndustrialEthernettoFieldbusFieldbusprotocolstandardsMultipletopologies:star,tree,ring,daisychain,onsinglelinewithstublinesCAN,RS485,fibrePHYswithproprietaryMACsCAN/CANopen,DeviceNet,Profibus,SERCOSI/II,CC-Link,andsoon0.5-10Mbpsperformancerangewithmajorityat1MbpsIndustrialEthernetprotocolstandardsMultipletopologies:Line,tree,star,ring,daisychainStandardorproprietaryMACsStandard/industrial-gradeEthernetequipment,cable,PHYs,connectorsEtherNet/IP,PROFINET,Modbus/TCP,EtherCAT,EthernetPowerlink,SERCOSIII,CC-LinkIE,andsoon100Mbpswitharoadmapto1GbpsCycletimeandjitterIndustrialEthernet:typ.100scycletimes,1µsjitterFieldbus:typ.1mscycletimes,1µsjitter7Real-TimeEthernetinIndustrialApplicationsReal-TimeEthernetinIndustrialApplications8IT-Services1ms10ms~100msInternetInternetAutomationMotionControlTCP/IPIsochronousRealTimeNonRealTimeSoftRealTimeACBRemoteI/OCustomMACPROFINETPROFINETPROFINETKeyTrends:IndustrialEthernetKeyTrends:IndustrialEthernet9RAPIDGROWTHPROLIFERATIONOFSTANDARDSMostindustryobserverspredicta30%CAGRforethernetinfactoryautomation–particularlyindrives,PLCs,andIOmodulesTheindustrycontinuestodevelopnewprotocolsandconstantlyevolveexistingprotocolstobettermeetsystemrequirementsPROFINET30%Others6%CC-LinkIE3%FL-Net1%HSE2%SERCOSIII1%EtherCAT6%EthernetPowerlink4%ModbusTCP/IP13%Ethernet/IP34%SingleFPGAforMultipleStandardsSingleFPGAforMultipleStandardsNOupfrontlicensefeesTwo-chipsolution:SECURITYCPLD+FPGAInitialtargetdeviceisCycloneIV&CycloneIIISame‘SECURITYDevice’foranyoneofthelistedprotocolsTheIPcomesfromThirdpartyandcustomerswillbeboundbyIPlicenseagreement10B&R’sPLCMasterINKSlaveNetworkPacketsMonitoringSOFTINGSECURITYCPLDEthernet/IPProfibusDPModBus/TCPPowerlinkEthernetProfinetRTEtherCATEthernet/IP w/ DLRProfinetIRTEthernet/IPProfibusDPModBus/TCPPowerlinkEthernetProfinetRTEtherCATEthernet/IP w/ DLRProfinetIRTAgendas:Agendas:IndustrialNetworkingSingleFPGAformulti-standardServoDriveFOCcontroldesignmethodologyVibrationsuppressionsbyFFTanalysisDriveOnAChipreferencedesignFunctionalSafetyQualifiedFPGA,tools&designflow11DrivesTechnologyTrendsDrivesTechnologyTrendsTechnologyTrendDriveRequirementsDecentralizedArchitectureIncreasedintelligenceandefficiencyinthedriveMiniaturization(IntegratingFunctionality)Integrationofcommand/communicationswithcontrolalgorithm;ConvectioncoolingonlyImprovedConnectivitySynchronizedmovementandreal-timecommunicationsOptimizingOutputRatesMulti-axissupportSafeOperationFunctionalSafetyApplication-SpecificFlexibleplatformtosupportincrementalcustomerneeds12IntelligentDrivesLowersCosts,ImprovesOperationIndustrialEthernetMulti‐AxisDrive System©2013AlteraCorporation—ConfidentialPositionLoopSpeedLoopCurrentLoopAlteraFPGADrive-on-a-Chip–WarpDrives13SpeedControllerPowerStageCurrentController(FOC)SVPWMADCADCI/FEncoderI/FPositionControllerVibrationSuppressionVibrationAnalysisandDetectionOn-LineDiagnosticsPositionEncoderMotorPositionObserverCurrentObserverRequirementFPGABenefitPreciseandEfficientMotorControl•Fast,ParallelComputation–DoMuchMoreinLessTime•Ultra-lowlatencycontrolloops(FOC1us)•Highprecision/resolutioncurrentandpositionfeedback•AdvancedcontrolusingObservers,VibrationSuppressionCost-effectiveMultiaxisControlof2,4,8,16…axesrequiresminimaladditionalla