Altera单芯片伺服控制器方案详细介绍
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PROFINET PROFINET PROFINET
Internet
A
B
Remote I/O
<10 ms
C
Motion Control
<1 ms
Automation
~100 ms
IT-Services Non Real Time Soft Real Time
TCP/IP Isochronous Real Time
Same ‘SECURITY Device’ for any one of the listed protocols The IP comes from Third party and customers will be bound by IP license agreement
Network Packets Monitoring
Function Task oriented & Real-time operation asynchronously <5 µs latency & Floating Point support Multiple real-time Industrial Ethernet protocols Encoder, ADC, PWM control Safety-qualified diagnostic IP
B&R’s PLC Master
INK Slave
10
Agendas:
Industrial Networking Servo Drive
Single FPGA for multi-standard FOC control design methodology Vibration suppressions by FFT analysis Drive On A Chip reference design Qualified FPGA, tools & design flow
Custom MAC
8
Key Trends: Industrial Ethernet
RAPID GROWTH PROLIFERATION OF STANDARDS
PROFINET 30% Others 6% CC-Link IE 3% FL-Net 1% HSE 2% SERCOS III 1%
EtherCAT 6%
MCU
ADC I/F
Current Observer
ADC Current ADC Feedback Feedback
Current
Speed Loop Position Loop FPGA/SoC
Requirement
Precise and Efficient Motor Control
Encoder I/F
Functional Safety
11
Drives Technology Trends
Technology Trend
Decentralized Architecture Miniaturization (Integrating Functionality)
Drive Requirements
Increased intelligence and efficiency in the drive Integration of command/communications with control algorithm; Convection cooling only Synchronized movement and real-time communications Multi-axis support
Industrial Ethernet
Improved Connectivity Optimizing Output Rates Safe Operation
Functional Safety Flexible platform to support incremental customer needs
Challenge Across All Types of Drives Manufacturers
3
28nm C-V SOC FPGA Drive-On-A-Chip
Drive On A Chip Features Embedded high performance processor Motor Control Algorithm Connectivity Interface logic Functional Safety IP and tools
Integrate functions with less components Leverage model‐based design flow Multi‐axes control
Understanding & simplifying Functional Safety qualification Cost overhead and time to market impact
Industrial Ethernet protocol standards
Multiple topologies: Line, tree, star, ring, daisy chain Standard or proprietary MACs Standard/industrial-grade Ethernet equipment, cable, PHYs, connectors EtherNet/IP, PROFINET, Modbus/TCP, EtherCAT, Ethernet Powerlink, SERCOS III, CC-Link IE, and so on 100Mbps with a roadmap to 1Gbps
Position Observer
Speed Speed Position Position
On-Line Diagnostics FPGA Benefit
•Fast, Parallel Computation – Do Much More in Less Time
Multi‐Axis Drive System
Application-Specific
Intelligent Drives Lowers Costs, Improves Operation
12
Altera FPGA Drive-on-a-Chip – Warp Drives
Vibration Suppression
Functional Safety
5
Agendas:
Industrial Networking Servo Drive
Single FPGA for multi-standard FOC control design methodology Vibration suppressions by FFT analysis Drive On A Chip reference design Qualified FPGA, tools & design flow
ห้องสมุดไป่ตู้
Functional Safety
6
Comparing Industrial Ethernet to Fieldbus
Fieldbus protocol standards
Multiple topologies: star, tree, ring, daisy chain, on single line with stub
Differentiation While Lowering Costs
Implementing Functional Safety
Tighter control loops Support for Industrial Ethernet protocols HW/SW acceleration
The industry continues to develop new protocols and constantly evolve existing protocols to better meet system requirements
9
Single FPGA for Multiple Standards
Slave
Fieldbus 2 / Industrial Ethernet 2
Multi-axis Drives
Servo Drive
AC PMSM Motors
I/O
Safety I/O
2
Challenges for Manufacturers Today
Performance Improvements
Position Controller
Speed Controller
Current Controller (FOC)
Vibration Analysis and Detection
SV PWM
Current Loop
Computation Power Voltage Time Stage
Motor Motor
Cycle time and jitter
Industrial Ethernet: typ. >100 s cycle times, 1µs jitter Fieldbus: typ. >1ms cycle times, >1 µs jitter
7
Real-Time Ethernet in Industrial Applications
Ethernet Powerlink 4%
Modbus TCP/IP 13%
Ethernet/IP 34%
Most industry observers predict a 30% CAGR for ethernet in factory automation – particularly in drives, PLCs, and IO modules
Integrated Motor Control With Altera FPGAs
Enabling Differentiation for Next Generation Drives With Altera FPGA
Elmer Chiang,
Industrial Market Development Altera Industrial Business Unit echiang@altera.com
lines CAN, RS485, fibre PHYs with proprietary MACs CAN/CANopen, DeviceNet, Profibus, SERCOS I/II, CC-Link, and so on 0.5-10Mbps performance range with majority at 1Mbps
NO upfront license fees Two-chip solution:
SECURITY CPLD + FPGA Initial target device is Cyclone IV & Cyclone III
SOFTING SECURITY CPLD
Ethernet/IP Profibus DP ModBus/TCP Powerlink Ethernet Profinet RT EtherCAT Ethernet/IP w/ DLR Profinet IRT
4
Agendas:
Industrial Networking Servo Drive
Single FPGA for multi-standard FOC control design methodology Vibration suppressions by FFT analysis Drive On A Chip reference design Qualified FPGA, tools & design flow
A Typical Industrial Automation System
Operator
Fieldbus 1 / Industrial Ethernet 1
RTU
SCADA level
Enterprise Switch / Gateway
Master HMI
PLC PAC/ Moition Control
Internet
A
B
Remote I/O
<10 ms
C
Motion Control
<1 ms
Automation
~100 ms
IT-Services Non Real Time Soft Real Time
TCP/IP Isochronous Real Time
Same ‘SECURITY Device’ for any one of the listed protocols The IP comes from Third party and customers will be bound by IP license agreement
Network Packets Monitoring
Function Task oriented & Real-time operation asynchronously <5 µs latency & Floating Point support Multiple real-time Industrial Ethernet protocols Encoder, ADC, PWM control Safety-qualified diagnostic IP
B&R’s PLC Master
INK Slave
10
Agendas:
Industrial Networking Servo Drive
Single FPGA for multi-standard FOC control design methodology Vibration suppressions by FFT analysis Drive On A Chip reference design Qualified FPGA, tools & design flow
Custom MAC
8
Key Trends: Industrial Ethernet
RAPID GROWTH PROLIFERATION OF STANDARDS
PROFINET 30% Others 6% CC-Link IE 3% FL-Net 1% HSE 2% SERCOS III 1%
EtherCAT 6%
MCU
ADC I/F
Current Observer
ADC Current ADC Feedback Feedback
Current
Speed Loop Position Loop FPGA/SoC
Requirement
Precise and Efficient Motor Control
Encoder I/F
Functional Safety
11
Drives Technology Trends
Technology Trend
Decentralized Architecture Miniaturization (Integrating Functionality)
Drive Requirements
Increased intelligence and efficiency in the drive Integration of command/communications with control algorithm; Convection cooling only Synchronized movement and real-time communications Multi-axis support
Industrial Ethernet
Improved Connectivity Optimizing Output Rates Safe Operation
Functional Safety Flexible platform to support incremental customer needs
Challenge Across All Types of Drives Manufacturers
3
28nm C-V SOC FPGA Drive-On-A-Chip
Drive On A Chip Features Embedded high performance processor Motor Control Algorithm Connectivity Interface logic Functional Safety IP and tools
Integrate functions with less components Leverage model‐based design flow Multi‐axes control
Understanding & simplifying Functional Safety qualification Cost overhead and time to market impact
Industrial Ethernet protocol standards
Multiple topologies: Line, tree, star, ring, daisy chain Standard or proprietary MACs Standard/industrial-grade Ethernet equipment, cable, PHYs, connectors EtherNet/IP, PROFINET, Modbus/TCP, EtherCAT, Ethernet Powerlink, SERCOS III, CC-Link IE, and so on 100Mbps with a roadmap to 1Gbps
Position Observer
Speed Speed Position Position
On-Line Diagnostics FPGA Benefit
•Fast, Parallel Computation – Do Much More in Less Time
Multi‐Axis Drive System
Application-Specific
Intelligent Drives Lowers Costs, Improves Operation
12
Altera FPGA Drive-on-a-Chip – Warp Drives
Vibration Suppression
Functional Safety
5
Agendas:
Industrial Networking Servo Drive
Single FPGA for multi-standard FOC control design methodology Vibration suppressions by FFT analysis Drive On A Chip reference design Qualified FPGA, tools & design flow
ห้องสมุดไป่ตู้
Functional Safety
6
Comparing Industrial Ethernet to Fieldbus
Fieldbus protocol standards
Multiple topologies: star, tree, ring, daisy chain, on single line with stub
Differentiation While Lowering Costs
Implementing Functional Safety
Tighter control loops Support for Industrial Ethernet protocols HW/SW acceleration
The industry continues to develop new protocols and constantly evolve existing protocols to better meet system requirements
9
Single FPGA for Multiple Standards
Slave
Fieldbus 2 / Industrial Ethernet 2
Multi-axis Drives
Servo Drive
AC PMSM Motors
I/O
Safety I/O
2
Challenges for Manufacturers Today
Performance Improvements
Position Controller
Speed Controller
Current Controller (FOC)
Vibration Analysis and Detection
SV PWM
Current Loop
Computation Power Voltage Time Stage
Motor Motor
Cycle time and jitter
Industrial Ethernet: typ. >100 s cycle times, 1µs jitter Fieldbus: typ. >1ms cycle times, >1 µs jitter
7
Real-Time Ethernet in Industrial Applications
Ethernet Powerlink 4%
Modbus TCP/IP 13%
Ethernet/IP 34%
Most industry observers predict a 30% CAGR for ethernet in factory automation – particularly in drives, PLCs, and IO modules
Integrated Motor Control With Altera FPGAs
Enabling Differentiation for Next Generation Drives With Altera FPGA
Elmer Chiang,
Industrial Market Development Altera Industrial Business Unit echiang@altera.com
lines CAN, RS485, fibre PHYs with proprietary MACs CAN/CANopen, DeviceNet, Profibus, SERCOS I/II, CC-Link, and so on 0.5-10Mbps performance range with majority at 1Mbps
NO upfront license fees Two-chip solution:
SECURITY CPLD + FPGA Initial target device is Cyclone IV & Cyclone III
SOFTING SECURITY CPLD
Ethernet/IP Profibus DP ModBus/TCP Powerlink Ethernet Profinet RT EtherCAT Ethernet/IP w/ DLR Profinet IRT
4
Agendas:
Industrial Networking Servo Drive
Single FPGA for multi-standard FOC control design methodology Vibration suppressions by FFT analysis Drive On A Chip reference design Qualified FPGA, tools & design flow
A Typical Industrial Automation System
Operator
Fieldbus 1 / Industrial Ethernet 1
RTU
SCADA level
Enterprise Switch / Gateway
Master HMI
PLC PAC/ Moition Control