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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

motor control in

ter f

ace

Redundant

motor control

interface via

MON should

direct COM

interface fail

LVDT1

LX4580

COMMAND SAMV71

Host Control

System

MONITOR SAMV71

COM UART

MON UART

MON UART SPI I/F

COM to MON

communications I/F

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

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

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

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

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

times

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.

Produkspesifikasjoner

Merke:	Microchip
Kategori:	Ikke kategorisert
Modell:	LX4580

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