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er Feedback
Processing for Servo Drive Applications
Appl cations
Jens Onno Krah - Heiko Schmirgel
Cologne University of Applied Sciences,
Betzdorfer Str. 2, 50679 Kln, Germany
Keywords:
Sine Cosine Encoder, Observer, Servo Drives, Programmable Logic Device,
Device FPGA,
BiSS , EnDat , Hiperface DSL , DRIVE CLiQ , Embedded Control, Motion Control
Abstract
Controlled servo drives are used in many areas of automation technology, robotics
and handling systems as well as in the drive technology of production machines and
machine tools. The requirements regarding dynamics, speed stability and rigidity require ever increasing bandwidth in the control loops. This contribution describes
FPGA based concepts to connect encoders to servo drives. Due to digital filters imi
plemented in an FPGA the position signal quality can be significantly
significant increased. In a
servo drive the better signal to noise ratio can be used to build a smoother motor curcu
rent (less noisy), or to increase the control loop gain factors.
Introduction
Krah, Schmirgel
cosine signal
offset
cosine signal
amplitude
sine signal
offset
sine signal
amplitude
sine cosine lines per revolution
olution (usually 512 or 2048)
With no significant errors (Taylor approximation) the interpolation error can be calculated by:
1
78
=
tan
cos 6 tan
sin < 6 tan
? sin/2 1F
9:
9:
Using 1 Vss encoder signals rcos and rsin are ~500 mV. One percent
(5 mV) offset (cosoff and sinoff) and n = 512 lines per revolution are also
reasonable values. Due to a gain error rcos can be one percent greater
than rsin :
1.01 :
!"
1
'(0.01 cos ) 0.01 sin ) 0.005 sin/2 1@
512
The maximum angle error *+ with the used offset and gain error is:
is
*+
1
1
,0.01 2 0.005A
0
rad
512
26747
This offers a maximum of 17.33 bit resolution per revolution due to the
gain and offset error. Where 9 bit come from the counter (n) and additional 8.3 bit are achievable due to the tan-1 fine interpolation. In case of
higher requirements an encoder with more lines per rev and/or an ex- Fig. 4: Sincos gain error
tended fine interpolation with on-line
line gain and offset adjustment are
necessary.
In most cases the bottleneck of the system is not the position precision. Most servo systems derive the more
critical velocity feedback signal from the measured position signal with an observer:
. /01
23
/01
23
/01 with
/01 '(0.01 cos /01 ) 0.01 sin /01 ) 0.005 sin/2 /011@
4
and
/01 .5 0
. 0
Krah, Schmirgel
We get
After some math we get an equation for the relative speed error:
G/31
G
)0.01 sin/
. 01 ) 0.01
01 cos/
. 01 ) 0.01 cos/2
. 01
H 1 6 cos/2 1
1 6 cos/2
. 01
. IH
2
2
Rotating a 2048 line encoder with n = 3000 rpm generates a fE = 50 Hz * 2048 = 102.44 kHz encoder signal
frequency. A delay time of only 15.6 ns generates a
phase lag of:
H . IH
1%
% offset on the encoder sine and/or cosine sigsi
nal forces a 1% velocity error with encoder signal
frequency.
1%
% gain error between the signals forces
f
a 1%
velocity error with double encoder signal frefr
quency.
0.01 radiant phase error between the signals
forces a 1% high speed velocity error with double
encoder signal frequency.
Krah, Schmirgel
10
15
E T0
20
GD(jj)
Due to the oversampling technique the Danaher Motion S 700 Servo Drive is offering outstanding perpe
formance in processing analog sine cosine signals [2].
-20
-30
-40
-50
-60
Fig. 6: Encoder frequency E and sample time
tim
T0 velocity
elocity ripple damping function
BiSS
TU U T TQ
TU U T TQ
This boosts a 12-Bit ADC up to 15-Bit SNR performance. Another option is to use the DSP capability of
the FPGA to execute an on-line
line offset and gain adjustment.
dB
-10
V
By setting
etting this low pass cut off frequency to 50 kHz
(with a0 , a1 , a2) the quantization
uantization noise can be reduced
by approximately 20 dB:
5 MHz
W 10 dB logQ
50 kHz
sin/. P IQ 1
. P IQ
1 is not constant:
M/1
2S
23 S
Krah, Schmirgel
provide a high resolution position signal and additional alarm and warning bits with high update rates. A
motor winding over temperature signal could be
mapped into the alarm bit for example. Via the optional Multi Cycle Data (MCD) channel the position
sensor can send sequential low update rate informainform
tion, like encoder temperature.
The fastest position update rate is below 20 s. Most
BiSS Encoders offer optionally also 1 Vss analog
sine/ cosine signals [3].
The servo drive manufacturer design engineer gets a
proved ready to use solution with well known specifispecif
cations by using a specific BiSS master chip. The
disadvantages are the high component cost for the
BiSS master and the necessary PCB-space [4].
An ALTERA BiSS FPGA implementation template is
as QUARTUS
ARTUS II project with VHLD source code as
download available [5, 6].
EnDat
The EnDat interface from HEIDENHAIN is a digital,
bidirectional interface for encoders. It is capable both
of transmitting position values from incremental and
absolute encoders as well as transmitting or updating
information stored in the encoder, or saving new ini
formation. EnDat is based on one unidirectional
unidirec
RS485 clock channel and one bidirectional data chancha
nel. The data is transmitted in synchronism with the
clock signal from the subsequent electronics. The type
of transmission (position values, parameters, diagnosdiagno
tics, etc.) is selected by mode commands that the
subsequent electronics send to the encoder.
DRIVE-CLiQ
DRIVE-CLiQ, the Siemens standard digital interface
between the essential SINAMIC S120 drive compocomp
nents including motors and encoders reduces the
t
number of different parts. Electronic type plates in the
components allow all of the drive components to be
automatically detected via the Drive-CLiQ
Drive
cable.
Krah, Schmirgel
Conclusion
This paper describes methods to interface high resoluresol
tion encoders with a drive using FPGA and microconmicroco
troller technology.
HIPERFACE
Is the short for High Performance
formance Interface
Inter
and the
standard interface for SICK-STEGMANN
STEGMANN motor
feedback systems.
References
1. Hengstler,
www.Hengstler.com
2. SR 700 Manual
www.DanaherMotion.net
3. BiSS-Interface
www.biss-interface.de
interface.de
4. IC-Haus,
www.icHaus.de
5. Download:
www.f07.fh-koeln.de/fakultaet/
koeln.de/fakultaet/
personen/professoren/
personen/professoren/jens.krah/
6. EBV,
www.ebv.com www.devboards.de
www.ebv.com,
7. Siemens,
www.automation.siemens.com
8. Heidenhain,
www.heidenhain.de
9. MAZeT:
www.MAZeT.de
10. Sick-Stegmann,
www.stegmann.de
Krah, Schmirgel