Introduction
Electronic Drive Development Platform (EDDP) provides all necessary software and hardware components for development and evaluation of motor control applications. While those components (both software and hardware) can also be used separatly this manual describes EDDP usage with default reference hardware platform (EDDP Kit) only.
Hardware components/boards delivered in EDDP Kit are not intended to be used in finished products. All the software and hardware parts of the EDDP are intended for Developers evaluating Motor Control Applications with Xilinx FPGA and/or SoC Devices.
Requirements for Functional Test
It is possible to run the default control firmware and GUI to verify the that the hardware is functional.
Following items are required in addition to EDDP Kit:
- Micro-USB Cable for the USB console of the Controller Board.
- Ethernet-based LAN with a DHCP server.
- RJ45 ethernet Cable.
- Computer with web browser to access the Web UI.
- Card reader supporting micro-SD Cards.
- Access to internet (to download SD Card images).
In order to pass EMC radiatied emission (EN 55011) class B requirements option "Spread Spectrum" must be activated (standard setting).
Software version that was used in EMC test: (Visible in the GUI main scren) 2017-7-31 (SVN Tag 5745).
Requirements for Development
For development with SDSoC additonal items are required:
- All items listed under Requirements for Functional Test.
- Basic knowledge of Xilinx All Programmable FPGA and/or SoC devices, basic knowledge of Xilinx SDK and C/C++ programming in order to be able to adapt the firmware to your requirements.
- A PC capable of running Xilinx SDSoC 2017.1
- Valid Xilinx SDSoC License or Voucher.
For development with HLS additonal items are required:
- All items listed under Requirements for Functional Test.
- Basic knowledge of Xilinx All Programmable FPGA and/or SoC devices, basic knowledge of Xilinx SDK and C/C++ programming in order to be able to adapt the firmware to your requirements.
- A PC capable of running Xilinx Vivado 2017.1
Installation
Micro-SD is delivered without Linux images to avoid any issues related to US export control regulations.
EDDP System Components
EDDP Kit Content
- Control Board: ARTY-Z-7010
- EDPS Driver Board: TEC0053
- EDPS Motor Adapter Board: TEC0060
- EDPS Reference Motor with Encoder: BLRW-111D-24V-10000-1000-SI
- Plastic DEMO load for Motor
- One 6 Pin PMoD cable
- Two 12V Power Supplies
- Screws and other accessories used to mount the motor
- One spare M6 Screw
- Plastic cover for Driver Board use without TEC0060
- 30A Fuse for Driver Board use without TEC0060
- Micro SD Card
- Quickstart Guide
The Motor is pre-mounted to the Driver board using the Adapter Board and accessories.
Control Board
The default Control Board is the Digilent ARTY-Z 7010, which is delivered as part of the EDDP Kit. This manual contains information relevent to the actual use of the ARTY-Z as a Control Board within the EDDP only; all technical data and user guides and manuals for the Controller Board are provided by the controller board manufacturer (Digilent Inc.). Use of the other Control boards with the EDPS Driver board is also outside the scope of this manual. Primary support for other control boards is currently provided by QDESYS.
Software
The software delivered on the SD card configures the FPGA on the ARTY-Z board with the Field-Oriented Control algorithm and starts the web server to serve the Web User Interface (Web UI).
To access the Web UI, point a web browser to the IP of the Controller Board. The following page appears:
To start the motor, click the button "Motor". The motor will make 3 rotations in order to make sure that encoder finds the initial position before starting in correct mode and the button will turn red. To stop the motor, clicke the button "Motor" again; the button will turn green.
The gauges show the stator current Iq and the motor speed in RPM.
To see the charts live, enable checkbox "Live charts". The following charts are available:
- Ia,Ib - shows stator currents Ia,Ib, the calculated current Ic and motor speed.
- Id,Iq - shows stator currents Id, Iq and motor speed.
- Vd,Vq - shows stator voltages Vd and Vq.
The radio buttons "Current" and "Speed" permit switching the control modes.
The sliders permit selecting the target speed and target current when in the appropriate mode. The direction radio buttons "Forward" and "Reverse" will be changed accordingly when the sign of the value is changed.
The radio buttons "Forward" and "Reverse" can be used to change the direction; the target slider will be changed accordingly.
Motor
The default motor is supplied in the EDDP Kit; see the chapter Reference Motor for details. Use of custom motors is outside the scope of this manual.
Block Diagram
Functional description
A 3-phase motor with an encoder is connected to the EDPS Driver board (TEC0053). The driver board boards consists of a 3-phase power stage to be driven by PWM signals, current transducers and Analog Digital Converters (ADC) to measure phase currents and DC Link Voltage and isolating circuitry to provide electrical isolation for the signals to the Control Board.
A TEC0060 board, included in the EDDP Kit, is used as a mechanical and electrical adaptor for the reference motor.
The Control Board provides PWM signals for the Driver Board and interface to the ADC's.
TODO: elaborate.
List of the documents for further information:
| Title | Description |
|---|---|
| FOC SDSoC | Implementation of a Field-Oriented Control algorithm in C++ with Vivado SDSoC |
| SDSoC Hardware Platform ARTY-Z7 | A basis for building Vivado SDSoC applications running on an Arty-Z7 board connected to a TEC0053 board |
| AXI4-Stream AD7403 | An IP core for filtering the delta-sigma bitstream read from one or more ADC-s of type of AD7403 to an AXI4-Stream of samples |
| AXI4-Stream Encoder | An IP core for converting impulses from a relative index encoder with an index signal to an AXI4-Stream of position and speed data |
| AXI4-Stream PWM | An IP core for generating PWM signals according to the input AXI4-Stream |
| AXI4-Stream Concat | An IP core for concatenating AXI4-Streams |
| Web GUI | A Web UI to control and monitor an EDPS board over the Network API |
| Network API | A communication protocol, based on Websockets, to control an EDPS board |
| Embedded Linux Code | A server program interfacing to an EDPS board and implementing the Network API and the functions of a Web Server |
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