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