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@ -29,25 +29,25 @@ The code in this repository has detailed comments (in Chinese). If you are famil
### Table of contents ### Table of contents
- [Demo project: let your motor spin](#Demo project: let your motor spin) - [Demo project: let your motor spin](#en1)
- [Build Hardware](#Build Hardware) - [Build Hardware](#en11)
- [Create FPGA project](#Create FPGA project) - [Create FPGA project](#en12)
- [parameter tuning](#parameter tuning) - [parameter tuning](#en13)
- [Monitor current using serial port](#Monitor current using serial port) - [Monitor current using serial port](#en14)
- [Design code](#Design code) - [Design code](#en2)
- [RTL simulation](#RTL simulation) - [RTL simulation](#en3)
- [simulate clark_tr and park_tr](#simulate clark_tr and park_tr) - [simulate clark_tr and park_tr](#en31)
- [simulate cartesian2polar and svpwm](#simulate cartesian2polar and svpwm) - [simulate cartesian2polar and svpwm](#en32)
　 　
# Demo project: let your motor spin # <span id="en1">Demo project: let your motor spin</span>
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. 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. All the code for this demo are in [RTL](./RTL) folder.
## Build Hardware ## <span id="en11">Build Hardware</span>
The hardware required to run this demo includes: 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. 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 ## <span id="en12">Create FPGA project</span>
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. 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. * 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). * `uart_tx` : **optionally** connect to the Serial Port of computer (e.g., a UART-to-USB module).
## parameter tuning ## <span id="en13">parameter tuning</span>
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: 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. 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 ## <span id="en14">Monitor current using serial port</span>
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. 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. 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 -5 0 206 200
-16 0 202 200 -16 0 202 200
16 0 192 200 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 -3 0 -207 -200
0 0 -202 -200 0 0 -202 -200
-15 0 -211 -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. 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 # <span id="en2">Design code</span>
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. 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 # <span id="en3">RTL simulation</span>
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. 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) 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 ## <span id="en31">simulate clark_tr and park_tr</span>
Let's run a simulation of the clark transform and park transform first. 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. | | **Figure4** : Simulation waveform for clark_tr and park_tr. |
## simulate cartesian2polar and svpwm ## <span id="en32">simulate cartesian2polar and svpwm</span>
Now run the simulation of cartesian2polar (cartesian to polar) 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。 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 -5 0 206 200
-16 0 202 200 -16 0 202 200
16 0 192 200 16 0 192 200
@ -414,7 +414,7 @@ input wire [30:0] Ki,
-3 0 -207 -200 -3 0 -207 -200
0 0 -202 -200 0 0 -202 -200
-15 0 -211 -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。 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。