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1All right reserved: Disclosure to third parties of this document or any part thereof, or the use of any information contained therein for
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
Applications d’un processeur dédié à la commande d’actionneurs électriques en environnement sévère
H. de la Vallée Poussin
P. Alexandre
Département Mécatronique
2All right reserved: Disclosure to third parties of this document or any part thereof, or the use of any information contained therein for
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
3All right reserved: Disclosure to third parties of this document or any part thereof, or the use of any information contained therein for
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
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)
4All right reserved: Disclosure to third parties of this document or any part thereof, or the use of any information contained therein for
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 – 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
/
5All right reserved: Disclosure to third parties of this document or any part thereof, or the use of any information contained therein for
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: 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
6All right reserved: Disclosure to third parties of this document or any part thereof, or the use of any information contained therein for
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
7All right reserved: Disclosure to third parties of this document or any part thereof, or the use of any information contained therein for
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)
8All right reserved: Disclosure to third parties of this document or any part thereof, or the use of any information contained therein for
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)
9All right reserved: Disclosure to third parties of this document or any part thereof, or the use of any information contained therein for
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
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
10All right reserved: Disclosure to third parties of this document or any part thereof, or the use of any information contained therein for
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 modèle sert à la simulation et à la génération de code
11All right reserved: Disclosure to third parties of this document or any part thereof, or the use of any information contained therein for
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
Les boucles sont constituées d’éléments de librairie
12All right reserved: Disclosure to third parties of this document or any part thereof, or the use of any information contained therein for
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
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
13All right reserved: Disclosure to third parties of this document or any part thereof, or the use of any information contained therein for
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
Moyens de test: le banc de test logiciel (2)
14All right reserved: Disclosure to third parties of this document or any part thereof, or the use of any information contained therein for
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
Moyens de test: observateur de paramètres internes
15All right reserved: Disclosure to third parties of this document or any part thereof, or the use of any information contained therein for
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
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
16All right reserved: Disclosure to third parties of this document or any part thereof, or the use of any information contained therein for
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
-
17All right reserved: Disclosure to third parties of this document or any part thereof, or the use of any information contained therein for
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
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
18All right reserved: Disclosure to third parties of this document or any part thereof, or the use of any information contained therein for
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
Commandes de vol primaires
Aile ronEHA
SpoilerEHA
ElevatorEHA
RudderEHA
Electro-hydrostatic Actuators (EHA)
19All right reserved: Disclosure to third parties of this document or any part thereof, or the use of any information contained therein for
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
Architecture d’EHA
Ram with LVDT
Mode valve
Permanent magnetsynchronous motor
with resolver
Fixeddisplacement
pump
Accumulator
M
20All right reserved: Disclosure to third parties of this document or any part thereof, or the use of any information contained therein for
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
Application lanceur
Le contrôle vectoriel de poussée
21All right reserved: Disclosure to third parties of this document or any part thereof, or the use of any information contained therein for
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 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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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 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 »
23All right reserved: Disclosure to third parties of this document or any part thereof, or the use of any information contained therein for
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
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