Post on 03-Feb-2016
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DSP-2 Rapid Control Prototyping Systems
TARET project
Villach, February 2007
Darko Hercog
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DSP-2 rapid control prototyping overview
DSP Terminal
DSP-2 learning module
Program download
Binary code
C code
TI Code Composer
RS-232
MATLAB/Simulink/RTW
Online signal monitoring and
parameter tuning
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DSP-2 rapid control prototyping overview
MATLABSim ulink
RTW
RS - 232/ US B/ Ethernet
DSP 2- control system
LabVI EW-
- - -
graphical user interface- data visualization
param eter tuningonline analysisrem ote control
DSP Term inal
- data visualizationparam eter tuning-
- stand alone application
DSP-2 control system- real tim e algorithm execution- DS P- 2 controller, DS P- 2 Learning Module or DS P- 2 Robotic controller
Real system- -
electric otorrobot m echanism
- power converter- etc.
m
MATLAB/ Sim ulink/ RTW- control algorithm design- sim ulation and analysis- code generation
PC
analog and digitalinput/ output signals
Object under control
- autom atic binay code generation- autom atic LabVI EW VI creation
LabVI EW
DSP Term inal
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DSP-2 Controller
• Signal processor TI TMS320C32-60MHz• Xilinx FPGA of Spartan family• SRAM 128Kx32• FLASH ROM 256Kx8 – 70ns• 4 x 12 bit A/D converter
– 1x unipolar input – 2x bipolar input – 1x bipolar multiplexed input (8/1)
• 2 x 12 bit D/A converter• CAN controller• 3 x optical isolated logical input• 1 x optical isolated logical output• RS-232 connection with the PC• RS-485 interface for incremental encoder• 3 phase pulse width modulator (PWM)• etc.
INC. ENC.
CA
NO
PTO
I/O
RS
23
2
SR
AM
FLA
SH
‘C32
A/D A/D D/A
Xilinx
INV
ER
TER
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DSP-2 Library for Simulink
DSP-2 library contains set of blocks that enables easy programming of DSP-2 control systems using Simulink
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DSP-2 device driver blockset
DSP-2 device driver blockset subsystem contains over 20 DSP-2 blocks:
• Analog input/output• Digital input/output• CAN Read/Write• From/To memory• From/To Terminal• Incremental encoder (position, speed)• To file• Modulator• PWM• PRBS• Transformations:
– dq -> ab– ab -> dq– rad/s -> RPM– RPM -> rad/s
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Example – speed control of the AC motor
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Initialization of DSP Terminal GUI
DSP Terminal
Simulink model
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DSP Terminal
DSP Terminal enables on-the-fly:
- data visualization
- parameter tuning
GUI of DSP Terminal is automatically created (depends on block used in Simulink model)
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DSP-2 learning module
DSP-2 controller
DSP-2 I/O connector
Plants:
• 1., 2. or 3. order system
• H-bridge for DC motor
• Buck converter
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DSP-2 learning module with DC motor
H- bridge DC motor
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DC motor position control
Target dependent subsystemTarget independent subsystem
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DSP-2 learning module with custom plant
UoutUin
R1 R2R3
C1 C2 C3
3 3 2 2
( )( )
( )
1 (1)
( ) 5 ( ) 6 ( ) 1
outRC
in
U sF s
U s
R C s R C s R C s
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DSP-2 Robotic Controller
DSP-2 Robotic Controller (DSP-2 RC) is composed of DSP-2 controller and additional robotic board. DSP-2 RC contains the following peripheral:
– 4 x interfaces for incremental encoders– 4 x 12 bit A/D converter (±10 V)– 4 x 12 bit D/A converter (±10 V)– 8 x digital inputs– 16 x digital outputs– CAN – USB– Ethernet
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DSP-2 robotic controller blockset
DSP-2 robotic controller device driver blockset contains the following blocks:– Analog Inputs/Outputs– Digital Inputs/Outputs– Encoder position and speed
measurement– Position preset– CAN Read/Write
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DSP-2 learning module with DC motor
H- bridge DC motor