1

DSP

:

: C930J006

2

DSP

PIDLQRFuzzy Systems Neural Networks

a a a

TeraSoft

(Electro-Mechanical Engineering Control System

EMECS)

DSP ( TMS320F2812)

PID

Code Composer Studio C

3

..................................................................................................................2

........................................................................................................5

................................................................................................9

2.1 .......................................................................................9

2.2 ......................................................................................11

2.3 ......................................................................................................18

.....................................................................................................20

3.1 ..........................................................................................20

3.1.1 MATLAB ver.7 SP 1 RTDX ..........................................20

3.1.2 TI Code Composer Studio .............................................................22

3.2 ...................................................................................................24

3.3 DSP .........................................................................25

3.4 DSP .........................................................27

3.4.1 MATLAB CCS RTDX ................................27

3.4.2 Simulink CAN .....................................................28

3.5 ..................................................................................30

...............................................................................34

4.1 ...........................................................................................................34

4

4.2 ...................................................................................................34

4.3 ...................................................................................................34

4.4 ...........................................................................................37

4.5 ...................................................................................................40

.................................................................................44

5.1 ...........................................................................................................44

5.2 ...................................................................................................44

5.3 ...................................................................................................44

5.4 ...........................................................................................46

5.5 ...................................................................................................50

5

TMS320F2812 DSP

MATLAB,

Simulink, Embedded Target for TI C2000 DSP Texas Instruments Code

Composer Studio

MATLAB Simulink Signal Processing Toolbox Simulink Fixed Point Link for Code Composer Studio Real-Time Workshop Fixed-Point Toolbox Embedded Target for TI C2000 DSP Real-Time Workshop Embedded Coder(recommended)

1.

DC1.1

6

1.1: -

:

DSP

2.

:

DSP

7

3.

1.2:

:

DSP

4.

8

1.3:

9

DSP

2.1

2.1

2.1:

:

2.2

1 2

10

2.2:

1:

1 2.3

2.3 1

2:

2 2.4

2.4: 2

11

2.2

24

2.5

(500 pules/Rev)

DSP

1 2

2.5:

DSP

DSP DSP 2.6

12

2.6: DSP

DSP :

Includes TMS320 F 2812 DSP 32K words on board data RAM 32K words on board program RAM On board 30 MHz crystal I/O Functions

PWM*12

Digital I/O*56(shared)

CAP/QEP*6

Enhanced Controller Area Network (eCAN)*1

Serial Communications Interfaces (SCI)*1, Standard UART

Serial Peripheral Interface (SPI)*1

Multichannel Buffered Serial Port (McBSP)With SPI Mode*1

ADC*16(12 Bit):

13

2 * 8 Channel Input Multiplexer Two Sample-and-Hold Single Conversion Time: 200 ns Pipeline Conversion Time: 60 ns

DC Motor Driver Circuit(+/- 24V)PWM to DAC circuit module

Switching Power Supply100/240VOutput +/-24V, 1.8A

2.1: DSP Target Module Connector

14

2.2: JP12, Analogs Interface Connector

15

2.3: JP13, Expansion Interface Connector

2.4: JP14, Expansion Interface Connector

16

2.5: JP15, Expansion Interface Connector

2.7: F2812 DSP Power Connector

2.6: DSP Target Module Jumpers

17

2.7: JP3, JP4, JP5, JP6, Boot Mode Select

2.8: DSP Target Module Jumpers Setting

:

2.9:+5 volt/3A +24volt/1.8A

18

2.9:

2.3

2.10

2.10:

DSP2.11

19

2.11: DSP

DSP2.12

2.12:

20

TI C2000 DSP

TeraSofts C2000DSP

Simulink

TeraSofts DSPC

3.1

3.1.1MATLAB Ver.7 SP 1 RTDX Block

1.

TI C2000 MATLAB Ver.7 SP 1

MATLAB Ver.7 SP 1 rtdxpatch.exeEMECS_CD

:\MALTAB701 3.1

3.1: rtdxpatch.exe MALTABROOT

21

2.

rtdxpatch.exe.\3.2

3.2: rtdxpatch.exe

MATLAB"rehash toolbox"3.3

RTDX3.4

3.3: Start MATLAB & execute "rehash toolbox"

22

3.4: RTDX Blocks & Library

3.

EMECS_CDEMECSC:\MATLAB701\work

3.1.2 TI Code Composer Studio

1.

TI C2000 blocks TI Code Composer Studio(Version 2.20.18 or

2.21) MATLAB (Version 7 Service Pack 1)TI CCS TI CCS Ver.

2.2( CCS C2000 Full V2.2)(

C2000-2.20.00-FULLC2000-2.20.18.07-FULL.EXE

C2000-2.20.00-FULLC2000-2.21.00-FULL.EXE )CCS

2

Spectrum Digital C2000 Tools(Parallel Port Drivers for

DSK2812)JTAGSDConfigSPECTRUM

DIGITAL XDS510PP PLUS

23

XDS510PP_PLUSSEEDDSP Emulator compatible

SPECTRUM DIGITAL XDS510PP Emulator"XDS510PP"

3.5

3.5: SDConfigJTAG

3.

F2812 RTDX Driver(F28xxRTDXDrivers_ForCCS22018.zip)

C:\ti\driver

4.

Code Composer Studio SetupF2812 PP Emulator

F2812-RTDX PP EmulatorCode Composer Studio Setup3.6

24

3.6: Import the driver or label to CCS

3.2

Simulink

TI C2000 DSP blocksA001_Position.mdl QEP

Block PWM C2812 QEP block

EMECS_CD

3.7:Simulink

TI

25

CI/OC

CCSCCS

3.3DSP

Code Composer Studio

1.WindowProgramsTexas InstrumentsCode Composer

StudioCodeComposer Studio3.8

3.8: Code Composer Studio

2.Code Composer StudioEMECS_CD\EMECS

A001_Position.pjt3.9

26

3.9: Code Composer Studio

3.ProjectRebuild ALLCode Composer Studio

4.FileLoad ProgramA001_Position.out

Open Code Composer Studio DSP

3.10

3.10: A001_Position.outDSP

27

3.4DSP

EMECS

MATLABSimulink

3.4.1MATLAB CCSRTDX

RTDXRTDX

DSP

E001_Haptic_RTDX.mdlF2812 DSP

TI C2000 DSPMATLAB

Servo-Motor Position ValuesTo RTDX

MATLABKp ValueMove Interval

From RTDXRTDXMATLABSimulink

3.11: E001_Haptic_RTDX.mdlDSP

28

3.12: MATLAB Link for CCS to establish RTDX communication

3.4.2 Simulink CAN

TI C2000 DSP(CCP)

CCPC2000 DSP

CANapeCCPC2000

DSP

CANdbCAN

DSP

Verctor-Informatik CAN

CAN

:

1. MATLABMATLABROOT\work\EMECS

29

2. C002_Rotary_CAN_Target

3. C002_Rotary_CAN_TargetDSP

CAN

3.13: DSP C002_Rotary_CAN_Target.mdl

4. C002_Rotary_CAN_Host

CANCAN

MATLAB/SimulinkC002_Rotary_Can_Host

CAN

30

3.14.a: SimulinkCAN

3.14.b:SimulinkCAN

3.5

TMS320C2000 CCStudio On-Chip Flash Programmer

plug-in V1.10.2TMS320C2000 DSP On-Chip

Code Composer StudioTMS320LF240x, TMS320LF240xA,

TMS320F281xCCS 2.20

31

1.WindowProgramsTexas InstrumentsCode Composer

StudioCode Composer Studio

2.ProjectOpenA001_Position.pjt

OpenCode Composer StudioCCS IDE3.9

3. ProjectAdd file to projectA001_Position.cmd

F2812_Flash.cmd( 3.15 )

3.15: f2812_Flash.cmd

4. ProjectAdd file to projectCodeStarBranch( 3.16

)

32

3.16: CodeStarBranch.asm

5. ProjectBuild optionsLinkerHeap Size(-heap)Run-time

Autoinitialization

3.17: Run-time Autoinitialization

6. ProjectRebuild AllCode Composer Studio

33

7. ToolsF28xx On-Chip Flash Programmer

3.18: F28xx On-Chip Flash Programmer

8. COFF file & Flash Programmer Settings

3.19: F28xx On-Chip Flash Programmer

34

4.1

(PM)PD

4.2

1.

2.DSP

3.DSP

4.DSPJTAGDSP

4.3

PM 4.1

4.1:

35

:

4.1

PM

36

4.2

4.2:

4.1

4.1:

37

4.4

P()

4.3

4.3:

0 4.4

4.4:

-230-1.47 j28.1

4.5

38

4.5:

PD0

0 S=-6.254.6

39

4.6: PD

-196-32.7-6.17 4.7

40

4.7: PD

4.5

1. 4.3

2.MATLABSimulink

3.MATLABP4.5

4.Simulinkposition_p.mdl4.8

pSimulationStart

41

4.8: P Simulink

5.

6. Simulink A001_Position.mdl TI C2000 DSP DSP

PID

Simulink C2000 C Code Composer Studio

DSP C2000Blockset 4.9

42

4.9:

7. 4.5 MATLAB P

8. Simulink position_pd.mdl 4.10

PD SimulationStart

4.10: PD Simulink

43

9.

10. Simulink A001_Position.mdl DSP

Simulink TI C2000 DSP Blockset

PD 4.10

Simulink C2000 C Code Composer Studio

DSP

44

5.1

(PM) PI

5.2

1.

2. DSP

3. DSP

4.DSP JTAG DSP

5.3

PM 5.1

5.1:

:

45

5.1

PM

46

5.2

5.2:

5.1

5.1:

5.4

I()

5.4

47

5.4:

0 5.5

5.5:

S=0

-228.72 -3.04 j9.72 5.6

48

5.6:

PI

PI 0 s=0

5.7

49

5.7: PI

-184.5-47.6-2.72 5.8

50

5.8: PI

5.5

1.5.3

2.MATLABSimulink

3.MATLAB5.5

4.Simulinkspeed_i.mdl5.9

SimulationStartSimulink

51

5.9: Simulink

5.

6. Simulink B001_Speed.mdl DSP

Simulink TI C2000 DSP Blockset PD

5.10 Simulink

C2000 C Code Composer Studio

DSP

52

5.10:

7.MATLABPI

8.SimulinkSpeed_pi.mdl5.11

PDSimulationStart

5.11: PI