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README.md
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README.md
@ -29,25 +29,25 @@ The code in this repository has detailed comments (in Chinese). If you are famil
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### Table of contents
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- [Demo project: let your motor spin](#Demo project: let your motor spin)
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- [Build Hardware](#Build Hardware)
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- [Create FPGA project](#Create FPGA project)
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- [parameter tuning](#parameter tuning)
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- [Monitor current using serial port](#Monitor current using serial port)
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- [Design code](#Design code)
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- [RTL simulation](#RTL simulation)
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- [simulate clark_tr and park_tr](#simulate clark_tr and park_tr)
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- [simulate cartesian2polar and svpwm](#simulate cartesian2polar and svpwm)
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- [Demo project: let your motor spin](#en1)
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- [Build Hardware](#en11)
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- [Create FPGA project](#en12)
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- [parameter tuning](#en13)
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- [Monitor current using serial port](#en14)
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- [Design code](#en2)
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- [RTL simulation](#en3)
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- [simulate clark_tr and park_tr](#en31)
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- [simulate cartesian2polar and svpwm](#en32)
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# Demo project: let your motor spin
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# <span id="en1">Demo project: let your motor spin</span>
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Figure1 is the system block diagram of the demo project, it has a simple behavior: control the current (torque) of the motor in clockwise and counterclockwise alternately. At the same time, it use the UART to print the **target value** and **actual value** of the current in order to monitor the quality of the current loop control.
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All the code for this demo are in [RTL](./RTL) folder.
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## Build Hardware
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## <span id="en11">Build Hardware</span>
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The hardware required to run this demo includes:
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@ -79,7 +79,7 @@ The reason why this board is designed as an Arduino shield is because many FPGA
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The motor driver used here is the **MP6540** chip, I have only tried to drive the low-power gimbal motor, but not the high-power motor.
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## Create FPGA project
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## <span id="en12">Create FPGA project</span>
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You need to create an FPGA project and add all the .v source files in the [RTL](./RTL) folder (including its subdirectories) to the project. Please use fpga_top.v as the top-level file.
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@ -106,7 +106,7 @@ The IO connection of fpga_top.v is as follows:
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* If there are 3 ENABLE signals for every 3 phases, then 1-to-3 connect is recommended.
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* `uart_tx` : **optionally** connect to the Serial Port of computer (e.g., a UART-to-USB module).
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## parameter tuning
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## <span id="en13">parameter tuning</span>
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To make the motor work normally, you need to tune the Verilog parameters of foc_top module which starts from 103 line in fpga_top.v, including:
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@ -128,7 +128,7 @@ input wire [30:0] Ki,
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After tuning the parameters, you can compile and program to the FPGA. You should be able to see the motor spining clockwize and anticlockwize alternately.
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## Monitor current using serial port
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## <span id="en14">Monitor current using serial port</span>
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Connect the `uart_tx` signal to the computer through **UART to USB module** (such as CP2102, CH340 module), you can use **Serial Assistant**, **Putty**, **HyperTerminal**, **minicom** or other serial port software to monitor the controll effect of the current loop.
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@ -136,7 +136,7 @@ Connect the `uart_tx` signal to the computer through **UART to USB module** (suc
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The information printed by the serial port is shown as follow. The first to fourth columns are: **actual value of d-axis current**, **target value of d-axis current**, **actual value of q-axis current**, **target value of q-axis current **. It can be seen that even if the target value suddenly changes from +200 to -200, the actual value can follow the target value, indicating that the PID control of the current loop is available.
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```
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-5 0 206 200
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-16 0 202 200
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16 0 192 200
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@ -148,7 +148,7 @@ The information printed by the serial port is shown as follow. The first to four
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-3 0 -207 -200
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0 0 -202 -200
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-15 0 -211 -200
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```
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In addition, you can use the **serial plotter** of **Arduino IDE** to display the current following curve in real time. Go to [Arduino official website](https://www.arduino.cc/en/software) to download **Arduino IDE**, open it after installation, select the correct COM port in "**Tools→Port**", then Click "**Tools→Serial Port Plotter**". It will automatically receive the serial port and use the above 4 columns of data to draw real-time curves.
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@ -160,7 +160,7 @@ In addition, you can use the **serial plotter** of **Arduino IDE** to display th
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# Design code
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# <span id="en2">Design code</span>
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The following table lists all the **Verilog** code files in this project, which are in the [RTL](./RTL) folder. Combined with **Figure1**, you can see the role of each module.
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@ -195,7 +195,7 @@ In addition, except for the `altpll` primitives in fpga_top.v, all code in this
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# RTL simulation
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# <span id="en3">RTL simulation</span>
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Because I don't have a Verilog model of the motor, I can't simulate the entire FOC algorithm, so I only simulated some of the submodules in the FOC.
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@ -210,7 +210,7 @@ The simulation related files are all in the [SIM](./SIM) folder, including the f
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Before using iverilog simulation, you need to install iverilog , see: [iverilog_usage](https://github.com/WangXuan95/WangXuan95/blob/main/iverilog_usage/iverilog_usage.md)
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## simulate clark_tr and park_tr
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## <span id="en31">simulate clark_tr and park_tr</span>
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Let's run a simulation of the clark transform and park transform first.
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@ -230,7 +230,7 @@ The simulation waveform in **Figure4** shows that:
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| :---------------------------------------------------------: |
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| **Figure4** : Simulation waveform for clark_tr and park_tr. |
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## simulate cartesian2polar and svpwm
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## <span id="en32">simulate cartesian2polar and svpwm</span>
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Now run the simulation of cartesian2polar (cartesian to polar) and svpwm.
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@ -402,7 +402,7 @@ input wire [30:0] Ki,
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以下是串口打印的部分信息。其中第1~4列分别为：**d轴电流的实际值**，**d轴电流的目标值**，**q轴电流的实际值**，**q轴电流的目标值**。可以看到，即使目标值从+200突变到-200，实际值能跟着目标值走，说明电流环的 PID 控制是有效的。
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```
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-5 0 206 200
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-16 0 202 200
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16 0 192 200
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@ -414,7 +414,7 @@ input wire [30:0] Ki,
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-3 0 -207 -200
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0 0 -202 -200
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-15 0 -211 -200
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```
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另外，你可以借用 **Arduino IDE** 的**串口绘图器**来实时显示电流跟随曲线。前往[Arduino官网](https://www.arduino.cc/en/software)下载 **Arduino IDE**，安装后打开，在“**工具→端口**”中选择正确的COM口，然后点击“**工具→串口绘图器**”，**串口绘图器**会自动接收串口并使用上述4列数据画实时曲线图。
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