Instrukcja obsługi Microchip LX4580

Microchip Niesklasyfikowane LX4580

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© 2022 Microchip Technology Inc. LX4580 with SAMV71 MCU Demo User Guide rev 0.1- page 1
LX4580 with Dual SAMV71 MCUs Demo User Guide
1 Description
This document describes a demo linear actuator control system using dual ATSAMV71Q21 microcontrollers with an
LX4580 motor acquisition system. The SAMV71 MCUs run the motor control loop and generate motor control signals in a
classic command/monitor (COM/MON) dual-controller redundant control system (Figure 1). The LX4580 manages the
sensors, in this case an LVDT and two temperature sensors. The LX4580 drives the LVDT primary directly, calculates the
RMS of the two LVDT secondaries, and automates temperature sensing based on PT100 or PT1000 remote sensors.
The purpose of this project is to provide practical demonstration source code for a motor position control system using an
LVDT as a position feedback sensor, as the core of a larger control system. The motor drive hardware is simplified by
using an off-the-shelf stepper motor controller, instead of using the LX4580's PWM outputs and current sense inputs.
main motor control interface
redunda
nt
motor control in
ter f
ace
Redundant
motor control
interface via
MON should
direct COM
interface fail
M
LVDT1
LX4580
COMMAND SAMV71
Host Control
System
T
M
MONITOR SAMV71
COM UART
MON UART
MON UART SPI I/F
COM to MON
communications I/F
Fault Manager
Fault Manager
COM to MON
communications I/F
COM UART SPI I/F
SPI2 Interface
LVDT1 Interface
SPI1 Interface
PT100/PT1000
Temperature
Sense Interface
Stepper
Motor
Driver
Motor Position
Control Loop
Motor Position
Loop Checker
T
C
T
3
T
4
T
5
Motor and Actuator
System Control and
Monitoring Circuits
Pressure Sensors,
Position Sensors, Logic
I/O, Voltages, Currents
PWM Engine
3 x 4-20mA Sensor
3 x Hall Sensor
9 x GPIO
5 x Current Sense
LVDT2
Differential ADC I/P
LVDT2 Interface
Reset Input &
Fault Outputs
main motor control interface
redunda
nt
motor control in
ter f
ace
Redundant
motor control
interface via
MON should
direct COM
interface fail
Figure 1. COM/MON Motor Control System with Dual Processors and Redundant LVDTs
2 Control Loop
The control system is intended to emulate the real, complex dynamics of control surfaces in an airplane. The linear
actuator is elastically coupled to a mass and the LVDT via a compression spring to exhibit substantial difference static and
dynamic friction. The position control loop is therefore 2nd-order to compensate.
3 Demo hardware
The hardware comprises:
• An LX4580 evaluation kit
• Two ATSAMV71-XULT SAMV71 Xplai ned Ultra evaluation kits, which carry ATSAMV71Q21 MCUs
• A Songhe TB6600 microstepping stepper motor driver. Alternative microstepping drivers with step/direction controls
may be used, set to 8 microsteps (1600 steps per revolution) and 2.5A peak phase current
• A motherboard that the two ATSAMV71-XULT evaluation kits and TB6600 plug onto
• A SainSmart 100mm linear stage actuat or with NEMA17 stepper motor, operated at 15V
• A Solartron Metrology model 930982 S series LVDT
• Two PT100 or PT1000 thermistors
• Windows PC to act as system host, with a USB connection to each of the ATSAMV71-XULT boards
Preliminary
LX4580 with SAMV71 MCU Demo User Guide
Demo Software
© 2022 Microchip Technology Inc. LX4580 with SAMV71 MCU Demo User Guide rev 0.1 - page 2
A typical demo setup is shown in Figure 2 below.
Figure 2. Demo System Showing External Wiring
4 Demo Software
The SAMV71 software is compiled on the MPLAB ® Harmony embedded software development framework, and source
code for both COM and MON processors is included as an attachment to this PDF. The system host is implemented in
Python as a command-line script, which communicates to the two SAMV71 Xplained boards via USB. The necessary
UART-over-USB driver is installed as part of the MPLAB® Harmony development installation for SAMV71, which is
necessary to compile code and program the SAMV71.
The software set is as follows:
1. Download and install Python3 on your system if not already installed. One development option is the WinPython
portable Python, which uses the Spyder IDE (as discussed here )
2. Download and install MPLAB® Harmony on your system if not already installed
3. The PDF contains the embedded file LX4580-2xSAMV71.txt stored as an attachment. Drag LX4580-2xSAMV71.txt
with the left mouse button to your desktop, or right-click it and select a different destination
4. Rename LX4580-2xSAMV71.txt to LX4580-2xSAMV71.zip which is an encrypted zip file
5. Open LX4580-2xSAMV71.zip, and extract the three folders to your desktop or a different destination if preferred. This
is an encrypted zip using microchiptechnology as the password. The sam_v71 and sam_v71_monitor folders
contains the COM SAMV71 and MON SAMV71 source code. The python folder contains the host python script.
There are no DLLs or other executables in folders
LX4580 with SAMV71 MCU Demo User Guide
Firmware Overview
© 2022 Microchip Technology Inc. LX4580 with SAMV71 MCU Demo User Guide rev 0.1 - page 3
5 Firmware Overview
5.1 COM Processor Functions
The COM processor is the main motor control processor. Functions are:
• Communicate to the main system controller for position target setting and high level diagnostics
• Acquire system position, temperatures and other status using LX4580
• Control the TB6600 motor driver based on a PD loop with hysteresis (Figure 3 below)
• Perform error checking
• Communicate results to the MON processor to compare results and read MON error status
~MCRun
MCRun
First
time
Next
times
I
n
i
t
i
a
l
state
Direction = +1
Frequency = 0
apd_out >= High_lim
apd_out < Low_lim Direction = spd_out
Frequency = Fmin
apd_out >= Low_lim
Direction = spd_out
Frequency = min(apd_out*Gout, Fmax)
apd_out < High_lim
Figure 3. PD Loop
5.2 MON Processor Functions
The COM processor is the backup motor control processor. Functions are:
• Communicate to the main system controller for position target setting, high level diagnostics, and error reporting
• Acquire position (independently using the LX4580's 2nd LVDT channel), temperatures and other status using LX4580
• Monitor the COM processor control outputs:
Measure the frequency of the PULSE waveform commanding motor steps
Sense polarity of the DIR waveform commanding motor direction
• Run the same control motor driver algorithm as the COM processor but based on MON processor gathered data
• Communicate to the COM processor to get COM results and report errors
• Error checking for data inconsistencies (PULSE frequency, position, temperatures) between COM and MON
Communications between the COM and MON processors use a UART interface to access shared memory regions.
5.3 PC (Main System Controller)
The PC software runs a command system in Python which communicates to both COM and MON processors over
individual USB interfaces. Commands are dispatched to both COM and MON processors to allow the MON processor to
detect a COM or MON interface failure. On error detection, the MON processor isolates COM commands from the motor
and will wait until higher level control can service the error and potentially restart the control process.

Specyfikacje produktu

Marka: Microchip
Kategoria: Niesklasyfikowane
Model: LX4580

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