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1. About the Drive-On-Chip Design Example for Cyclone V Devices
2. Motor Control Boards
3. Drive-On-Chip Design Example for Cyclone V Devices Features
4. Getting Started
5. Building the Design
6. Debugging and Monitoring the Drive-On-Chip Design Example with System Console
7. About the Scaling of Feedback Signals
8. Motor Control Software
9. Functional Description of the Drive-On-Chip Design Example
10. Achieving Timing Closure on a Motor Control Design
11. Design Security Recommendations
12. Reference Documents for the Drive-on-Chip Design Example
13. Document Revision History for AN 669: Drive-on-Chip Reference Design
4.1. Software Requirements for the Drive-On-Chip Design Example for Cyclone V Devices
4.2. Downloading and Installing the Drive-On-Chip Design Example for Cyclone V Devices
4.3. Setting Up the Motor Control Board with your Development Board
4.4. Programming the Hardware onto the Device
4.5. Setting Up Terminal Emulator
4.6. Downloading the HPS Software to the Device
6.1. System Console GUI Upper Pane for the Drive-On-Chip Design Example
6.2. System Console GUI Lower Pane for the Drive-On-Chip Design Example
6.3. Vibration Suppression Tab
6.4. Controlling the DC-DC Converter
6.5. Tuning the PI Controller Gains
6.6. Controlling the Speed and Position Demonstrations
6.7. Monitoring Performance
9.1. Processor Subsystem
9.2. Six-channel PWM Interface
9.3. DC Link Monitor
9.4. Drive System Monitor
9.5. Quadrature Encoder Interface
9.6. Sigma-Delta ADC Interface for Drive Axes
9.7. DC-DC Converter
9.8. Motor Control Modes
9.9. FOC Subsystem
9.10. FFTs
9.11. DEKF Technique for Battery Management
9.12. Signals
9.13. Registers
9.9.1. DSP Builder for Intel FPGAs Model for the Drive-On-Chip Designs
9.9.2. Avalon Memory-Mapped Interface
9.9.3. About DSP Builder for Intel FPGAs
9.9.4. DSP Builder for Intel FPGAs Folding
9.9.5. DSP Builder for Intel FPGAs Model Resource Usage
9.9.6. DSP Builder for Intel FPGAs Design Guidelines
9.9.7. Generating VHDL for the DSP Builder Models for the Drive-On-Chip Reference Designs
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6.3.1. About the Demonstration
The demonstration sets the control parameters and runs waveforms to demonstrate vibration suppression. Alternatively, you may change the settings and run waveforms manually. Stop the demonstration before making manual changes.
Note: Do not run the demonstration and change the settings simultaneously.
Note: This demonstration is only valid for FOC sensor 16 and 32 kHz dual axis mode.
The demonstration shows how to improve speed control. Speed is never perfectly constant because motors include discrete parts such as magnets, electrical coils and steel cages to hold these components. As the motor rotates, the torque produced for a given current magnitude varies. These variations (cogging torques) produce accelerations leading to speed variations. The feedback controller adjusts the current to counteract the speed variations depending on the strength of the control gains. Stronger gains reduce speed variation, but may lead to control instability or amplify mechanical resonances.
The demonstration shows the level of speed variation with default speed control gains. It then shows the speed control step response. The step response should be fast and with little overshoot or oscillation, so the speed output should look similar to the square-wave input command. The speed control step response with standard gains is slow and may stop briefly at zero speed because of friction when the motor changes direction. Increasing the speed control loop proportional gain makes the response look much faster and without any visible stop at zero speed. However, the motor produces high-frequency noise that is audible and visible in the FFTs as a broad peak around 1kHz. In a real system with a mechanism connected to the motor, this noise can easily excite mechanical vibrations. To counteract this undesirable change, apply the suppression filter using a broad notch characteristic centred on 1kHz. The resulting waveform still has a fast, square shape, but the filter suppresses the noise. The speed variation with the combination of high gain and filter is much less than the original graph, showing the benefit of the faster control.