Applications d’un processeur dédié à la commande d ... · PDF...

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Applications d’un processeur dédié à la commande d’actionneurs électriques en environnement sévère

H. de la Vallée Poussin

P. Alexandre

Département Mécatronique

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purposes other than provided for by this document, is not permitted except with prior and express written permission of S.A.B.C.A.GREPES_23-02-2007

Structure de la présentation

� Introduction

� Le processeur HBRISC2

• Le cœur

• Les périphériques

� Les outils associés au processeur

• Outils de développement

• Outils de test

� Les principales applications

• L’avion plus électrique

• Le lanceur plus électrique

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Introduction: le concept

La SABCA a créé un processeur pour répondre au besoin suivant:

� Commande haute performance de machines électriques à courant alternatif dans des environnements sévères (vide, radiations)

• Puissance de calcul importante

• Simplicité structurelle (validation logicielle)

• Protection des mémoires internes et externes contre les SEU (design) entièrement câblée (transparente pour l’utilisateur)

• Protection du processeur contre les SET et TID (technologie)

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Le processeur HBRISC2 – vue d’ensemble

GLOBAL

REGISTERS

RIO

FIXED POINT

ARITHMETIC

UNIT

RPAD

Unit SU

ON-CHIP PERIPHERAL

INTERFACE

motor

PWM

excitation

PWM

Serial

Fast link

ADC

interface

Serial port

(SPI)

Program

bus

HBRISC2

CORE

software

timer

INSTRUCTION REGISTER

ON-CHIP SEU

ERROR

DETECTION/

CORRECTION

UNIT

ON-CHIP MEMORY

SEU ERROR

CORRECTION

UNIT

INSTRUCTION

DECODER

GLOBAL

REGISTERS

REGISTER

BANK

FLOATING

POINT

UNIT

Unit B

GLOBAL

REGISTERS

REGISTER

BANK

FLOATING

POINT

UNIT

Unit A

I/O

interfacePeripheral

bus

4

/

⁄⁄⁄⁄ 2⁄⁄⁄⁄ 6⁄⁄⁄⁄ 18

46

/

HBRISC2

PERIPHERAL

REGISTERS

SEU

DETECTION/

CORRECTION

UNIT

INSTRUCTION

SEQUENCER

BOOT

ROM

CRC

check

⁄⁄⁄⁄ 1

⁄⁄⁄⁄ 32+8

ADDRESS

REGISTER

⁄⁄⁄⁄ 16

Address

bus

Prog.

outputs

4

/

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Le processeur HBRISC2: le cœur

� Architecture vectorielle (SIMD) en virgule flottante de type RISC

� ALU FP entièrement câblée (avec diviseur)

� Une unité virgule fixe pour la gestion des adresses

� Le processeur est complètement déterministe (non interruptible)

GLOBAL

REGISTERS

RIO

FIXED POINT

ARITHMETIC

UNIT

RPAD

Unit SU

Program

bus

HBRISC2

COREINSTRUCTION REGISTER

ON-CHIP SEU

ERROR

DETECTION/

CORRECTION

UNIT

ON-CHIP MEMORY

SEU ERROR

CORRECTION

UNIT

INSTRUCTION

DECODER

GLOBAL

REGISTERS

REGISTER

BANK

FLOATING

POINT

UNIT

Unit B

GLOBAL

REGISTERS

REGISTER

BANK

FLOATING

POINT

UNIT

Unit A

REGISTERS

SEU

DETECTION/

CORRECTION

UNIT

INSTRUCTION

SEQUENCER

BOOT

ROM

⁄⁄⁄⁄ 32+8

ADDRESS

REGISTER

⁄⁄⁄⁄ 16

Address

bus

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purposes other than provided for by this document, is not permitted except with prior and express written permission of S.A.B.C.A.GREPES_23-02-2007

Le processeur HBRISC2: les périphériques

ON-CHIP PERIPHERAL

INTERFACE

motor

PWM

excitation

PWM

Serial

Fast link

ADC

interface

Serial port

(SPI)

software

timer

I/O

interfacePeripheral

bus

4

/

⁄⁄⁄⁄ 2⁄⁄⁄⁄ 6⁄⁄⁄⁄ 18

46

/

HBRISC2

PERIPHERAL

CRC

check

⁄⁄⁄⁄ 1

Prog.

Outputs

4

/

� Le processeur est capable de gérer un large ensemble de périphériques (ADC, Resolver, LVDT, PWM, EEPROM, …)

� Deux bus sont gérés: un pour la commande (bidirectionnel) et un autre pour la surveillance et l’archivages de données temps réel

� Un mécanisme de CRC (géré en hardware) permet de s’assurer de l’intégrité du programme chargé dans le processeur

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purposes other than provided for by this document, is not permitted except with prior and express written permission of S.A.B.C.A.GREPES_23-02-2007

Conçu pour fonctionner en environnement sévère

� Le processeur est capable de protéger sa propre mémoire interne, ainsi que ses mémoires externes (RAM et EEPROM/FLASH)

� Les mécanismes de détection et de correction d’erreur sont totalement HW, et transparent au SW

GLOBAL

REGISTERS

RIO

FIXED POINT

ARITHMETIC

UNIT

RPAD

Unit SU

ON-CHIP PERIPHERAL

INTERFACE

motor

PWM

excitation

PWM

Serial

Fast link

ADC

interface

Serial port

(SPI)

Program

bus

HBRISC2

CORE

software

timer

INSTRUCTION REGISTER

ON-CHIP SEU

ERROR

DETECTION/

CORRECTION

UNIT

ON-CHIP MEMORY

SEU ERROR

CORRECTION

UNIT

INSTRUCTION

DECODER

GLOBAL

REGISTERS

REGISTER

BANK

FLOATING

POINT

UNIT

Unit B

GLOBAL

REGISTERS

REGISTER

BANK

FLOATING

POINT

UNIT

Unit A

I/O

interfacePeripheral

bus

4

/

⁄⁄⁄⁄ 2⁄⁄⁄⁄ 6⁄⁄⁄⁄ 18

46

/

HBRISC2

PERIPHERAL

REGISTERS

SEU

DETECTION/

CORRECTION

UNIT

INSTRUCTION

SEQUENCER

BOOT

ROM

CRC

check

⁄⁄⁄⁄ 1

⁄⁄⁄⁄ 32+8

ADDRESS

REGISTER

⁄⁄⁄⁄ 16

Address

bus

E(E)PROM

(back-up)

SRAM

(application)

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purposes other than provided for by this document, is not permitted except with prior and express written permission of S.A.B.C.A.GREPES_23-02-2007

Méthodologie de développement

Simplified

SIMULINK model

(mdl file)

SIMULINK library

(lib_imcm.mdl)

Macro definition

(macros.lst)

HBrisc2 parameter

initialisation

(initialisations.bc)

Variable

definition file

(m files)

SYNTHESISER

Synthesised

SIMULINK model

(mdl file)

Code source(b2c file)

Macro library

(bh files) Target

hardware

Compilation

Hbrass2.exe

Software

validation

testing

(Seracq-Win32)

Binary code(bin file)

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Un algorithme de commande de moteur: GSTP2

ACTUATOR POSITION

LOOP CTRL

MOTOR SPEED LOOP CTRL

MOTOR CURRENT

LOOP CTRL

RESOLVER CONDITIONNING

LVDT CONDITIONNING

Iq*

ω*

ω

θ

X*

BATTERY

VOLTAGE

INVERTER

MOTOR

RESOLVER

LVDT

MIL-STD-1553 RT

monitoring

Digital controller domain (HBRISC2)

ib

ia

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Le modèle sert à la simulation et à la génération de code

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Les boucles sont constituées d’éléments de librairie

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Moyens de test: le banc de test logiciel (1)

TEST PC

Digital I/O Timers DAC ADC SPI

BRISC

Digital I/O

PWM ADC

1553

Interface module

TEST BENCH

Aquisition & Generation link Control link

HSSL

HSSL …

TARGET

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Moyens de test: le banc de test logiciel (2)

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Moyens de test: observateur de paramètres internes

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Les applications

� L’avion plus électrique

• Commandes de vol primaire Airbus

• Convertisseur à Fréquence Variable F16

� Les applications lanceur

• “Thrust Vector Control” Vega et Ariane 5

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purposes other than provided for by this document, is not permitted except with prior and express written permission of S.A.B.C.A.GREPES_23-02-2007

L’avion plus électrique

Utilisation de la puissance du réacteur

� Prélèvement d’air → Conditionnement d’air

� Entraînement mécanique

• Pompe à carburant et lubrification moteur

• Pompe hydraulique (206 bars)→ Actionneur commandes de vol → Train d’atterrissage→ Freinage

• Générateur électrique (115V triphasé 400Hz +28V DC)→ Avionique→ Charges commerciales

-

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L’avion plus électrique

Innovations actuelles de l’avion plus électrique:

� Suppression d’un circuit hydraulique (Airbus A380)

� Commandes de vol à puissance électrique EHA (Airbus A380)

� Suppression du prélèvement d’air : “bleedless” (Boeing 787)

� Freinage électrique (Boeing 787)

Améliorations visées: � Performance� Sécurité� Maintenance� Réduction des Coûts

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Commandes de vol primaires

Aile ronEHA

SpoilerEHA

ElevatorEHA

RudderEHA

Electro-hydrostatic Actuators (EHA)

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Architecture d’EHA

Ram with LVDT

Mode valve

Permanent magnetsynchronous motor

with resolver

Fixeddisplacement

pump

Accumulator

M

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Application lanceur

Le contrôle vectoriel de poussée

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Le contrôle d’attitude du lanceur

Thrusterdeflection

order

Launcher dynamics

Power

Generation

Actuator

position control

Navigation

sensors

Atmosphere,

Gravity

Guidance & Navigation

Control

ThrustVector Control

Disturbance

Deflection

β

Big loop

« La grande boucle »

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Le contrôle vectoriel de poussée

PowerStage

ActuatorController

Positionsensor

Thrusterdeflection

order β1,β1Conversion

Table

Small loop

PositionOrder

Axe U

Position

Order

Axe V

Power

Generation

Impulse load,

buffeting,...

Disturbance

Pressure or

force

sensor

« La petite boucle »

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Comparaison des applications

Aéronautique Lanceur

Environnement Atmosphère Atmosphère ou vide

Aspects mécaniques Fatigue Vibrations et chocs

Gestion thermique Missions longues (>1h) Missions courtes (<10 min)

Puissances 1kW à 15kW 200W à 60 kW

Génération électrique Réseau de bord 115V/400Hz Batteries

Actionneurs EHA EMA

Composants COTS Composants qualifiés

Redondance Actionneurs redondants Contrôle redondant