Motion control implementation and validation for high precision, highly reliable moveable devices Jorge Sola Merino (EN-STI-ECE) Supervisor: Mark Butcher

Outline Introduction Project description Stepper motor control PMSM motor control Future work 29/11/2016

Introduction ECE: design, implementation and operation of control systems for moveable devices Mechatronics service: Piezo actuated stage for crystal collimation Stepper motor drive 29/11/2016

Project description Objective: Problems: Solution: Control of stepper motors for collimators and targets Problems: Current commercial drives work in open loop Highly radioactive environment Long cables Solution: Upgrade current drives to a full custom drive 29/11/2016

Stepper motor drive 29/11/2016

Stepper motor drive 29/11/2016

Stepper motor drive 100% compatible with previous drive Firmware runs in a DSP Run time switch from closed to open loop Autotesting capabilities Measurement of mechanical degradation Potential large scale deployment of the drive for the HL-LHC Ongoing knowledge transfer with SHS 29/11/2016

Stepper motor drive Tasks: Software development Code optimization Adding features EEPROM emulation Voltage/Duty LUT Unit testing Extension to PMSM motors 29/11/2016

Stepper motor drive Unit testing: 29/11/2016

PMSM motor drive Using same hardware in PMSM motors? YES Drive becomes more cost effective Possible control approaches: Direct Torque Control (DTC) Field Oriented Control (FOC) Trapezoidal Control 29/11/2016

PMSM motor drive Steps on FOC implementation: Matlab/Simulink simulation of motor and drive C implementation of drive logic Implementation and verification with real motor 29/11/2016

Future work Implementation of Extended Kalman Filter Extending Unit Testing to all the code Commissioning of HW and FW in LHC and NA targets Developing a new branch of code for PMSM motors 29/11/2016

Thank you for your attention. Questions?