本論文主要研究永磁式同步馬達伺服控制晶片之設計與製作。此控制晶片實現永磁式同步伺服馬達向量控制中所需執行之座標轉換、電壓解耦、電流迴路與速度迴路PI控制器等運算功能。實作時，以ALTERA FLEX10K FPGA與TMS320LF2407A DSP所組成之DSP-FPGA混合式控制系統為基礎，逐一取代DSP系統內由C語言所撰寫之向量控制演算法則。為了簡化設計與降低電路複雜度，程式採用模組化方式設計，先將各功能電路以基本模組實現，再整合成完整之架構，其中為了提高電路運算精確度，數值運算皆採用16位元帶符號2的補數方式設計。完成後之伺服控制晶片將與DSP晶片相連結，利用DSP之人機介面下達轉速命令並擷取馬達運轉時各變數之動態資料，進行各電路性能分析與整合，達成以FPGA實現永磁式同步伺服馬達向量控制之目的。
由實驗結果顯示，以本論文所建構之DSP-FPGA混合系統設計永磁式同步馬達伺服控制晶片，並執行硬體化後之向量控制演算法則，在200rpm至額定3000rpm之馬達轉速間，皆可以6.4 s之電路執行速度得到穩定之響應，證實本研究所提控制架構對控制法則硬體化及提升數位控制性能有很大助益。

This thesis investigates the design and implementation of a servo control chip for a permanent magnet synchronous motor. The control chip realizes the computational functions that are needed in the vector-control permanent magnet synchronous motor, including coordinate transformations, voltage decoupling, and the PI controllers for current- and speed-loop. The use of Altera Flex10K FPGA and TI TMS320LF2407A DSP forms a DSP-FPGA hybrid control system which replaces the C language coded vector-controlled algorithm resided in the DSP. In order to simplify design and to lower circuit complexity, program development is based on modularized design. A modularized circuit is designed for each functional block and the modules are then integrated into the complete structure. To improve computational accuracy of the circuits, numerical operations use 16-bit 2’s complement formats. By connecting servo control and DSP chips, speed commands are given via the DSP man/machine interface and the dynamic responses of motor variables are acquired, which are used for system performance analysis. The purpose of realizing vector control for permanent-magnet synchronous motor using FPGA is achieved.
Experimental results show that the permanent magnet synchronous motor servo control chip, which is based on the DSP-FPGA hybrid system, executes the “hardware” vector control algorithm within 6.4 microseconds and maintains stable operation in the speed range from 200 rpm to 3000 rpm. This research has shown that the proposed control structure facilitates greatly the implementation of hardware based control algorithms and the improvement of digital control performance.

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