diff --git a/README.md b/README.md index fc78db3..5153fd8 100644 --- a/README.md +++ b/README.md @@ -29,25 +29,25 @@ The code in this repository has detailed comments (in Chinese). If you are famil ### Table of contents -- [Demo project: let your motor spin](#Demo project: let your motor spin) - - [Build Hardware](#Build Hardware) - - [Create FPGA project](#Create FPGA project) - - [parameter tuning](#parameter tuning) - - [Monitor current using serial port](#Monitor current using serial port) -- [Design code](#Design code) -- [RTL simulation](#RTL simulation) - - [simulate clark_tr and park_tr](#simulate clark_tr and park_tr) - - [simulate cartesian2polar and svpwm](#simulate cartesian2polar and svpwm) +- [Demo project: let your motor spin](#en1) + - [Build Hardware](#en11) + - [Create FPGA project](#en12) + - [parameter tuning](#en13) + - [Monitor current using serial port](#en14) +- [Design code](#en2) +- [RTL simulation](#en3) + - [simulate clark_tr and park_tr](#en31) + - [simulate cartesian2polar and svpwm](#en32) 　 -# Demo project: let your motor spin +# Demo project: let your motor spin 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. All the code for this demo are in [RTL](./RTL) folder. -## Build Hardware +## Build Hardware The hardware required to run this demo includes: @@ -79,7 +79,7 @@ The reason why this board is designed as an Arduino shield is because many FPGA 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. -## Create FPGA project +## Create FPGA project 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. @@ -106,7 +106,7 @@ The IO connection of fpga_top.v is as follows: * If there are 3 ENABLE signals for every 3 phases, then 1-to-3 connect is recommended. * `uart_tx` : **optionally** connect to the Serial Port of computer (e.g., a UART-to-USB module). -## parameter tuning +## parameter tuning 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: @@ -128,7 +128,7 @@ input wire [30:0] Ki, 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. -## Monitor current using serial port +## Monitor current using serial port 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. @@ -136,7 +136,7 @@ Connect the `uart_tx` signal to the computer through **UART to USB module** (suc 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. - +``` -5 0 206 200 -16 0 202 200 16 0 192 200 @@ -148,7 +148,7 @@ The information printed by the serial port is shown as follow. The first to four -3 0 -207 -200 0 0 -202 -200 -15 0 -211 -200 - +``` 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. @@ -160,7 +160,7 @@ In addition, you can use the **serial plotter** of **Arduino IDE** to display th 　 -# Design code +# Design code 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. @@ -195,7 +195,7 @@ In addition, except for the `altpll` primitives in fpga_top.v, all code in this 　 -# RTL simulation +# RTL simulation 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. @@ -210,7 +210,7 @@ The simulation related files are all in the [SIM](./SIM) folder, including the f Before using iverilog simulation, you need to install iverilog , see: [iverilog_usage](https://github.com/WangXuan95/WangXuan95/blob/main/iverilog_usage/iverilog_usage.md) -## simulate clark_tr and park_tr +## simulate clark_tr and park_tr Let's run a simulation of the clark transform and park transform first. @@ -230,7 +230,7 @@ The simulation waveform in **Figure4** shows that: | :---------------------------------------------------------: | | **Figure4** : Simulation waveform for clark_tr and park_tr. | -## simulate cartesian2polar and svpwm +## simulate cartesian2polar and svpwm Now run the simulation of cartesian2polar (cartesian to polar) and svpwm. @@ -402,7 +402,7 @@ input wire [30:0] Ki, 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。 - +``` -5 0 206 200 -16 0 202 200 16 0 192 200 @@ -414,7 +414,7 @@ input wire [30:0] Ki, -3 0 -207 -200 0 0 -202 -200 -15 0 -211 -200 - +``` 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。