Matteo MacchiniStudent meeting – September 2014 Motion control design for the new BWS Matteo Macchini Technical student BE-BI-BL Supervisor: Jonathan Emery

Matteo Macchini Outline Student meeting – September 2014 Evaluation of control quality with finite precision Simulations and realizations plan Bench work – overview YVERDON model verification dSPACE - ControlDesk work

Matteo Macchini Finite precision model Student meeting – September 2014 Implemented a new model taking account of type conversion: Double  Fixed point

Matteo Macchini Finite precision simulation Student meeting – September 2014 Model simulated for 4 different representations: 8 bit – 16 bit – 24 bit – 32 bit And compared with nominal performance

Matteo Macchini Finite precision simulation Student meeting – September 2014 Model simulated for 4 different representations: 8 bit – 16 bit – 24 bit – 32 bit And compared with nominal performance

Matteo Macchini Finite precision simulation Student meeting – September 2014 Performance drop 8 bit = 7641% 16 bit = 5131% 24 bit = 46.4% 32 bit = 3.7%

Matteo Macchini Control simulation and realization plan Student meeting – September 2014 SIMPLIFIED MODEL YVERDON MODEL TEST BENCH

Matteo Macchini Bench environment Student meeting – September 2014 PMSM POWER SUPPLY IGBT INVERTER + CURRENT SENSORS dSPACE D11003 FILTER

Matteo Macchini Bench environment Student meeting – September 2014 FIRST PROBLEM bad star connection

Matteo Macchini YVERDON model verification Student meeting – September 2014 Motor Current sensor Control system PWM IGBT inverter Analog filter Cable

Matteo Macchini Experiment results Student meeting – September 2014 First experiment : open-loop Clarke/Park control LAYOUT Clarke/Park transform PWM Input

Matteo Macchini Experiment setup Student meeting – September 2014 First experiment (YVERDON) : open-loop Clarke/Park control RESULTS Clarke/Park transform PWM Input Experimental output Simulated output

Matteo Macchini Model – old version Student meeting – September 2014 First experimental layout: open-loop Clarke/Park control Clarke/Park transform Input PWM

Matteo Macchini Model – new version Student meeting – September 2014 First experimental layout: open-loop Clarke/Park control PWM Motor Power supply Analog filter Cable Current sensors

Matteo Macchini Experiment results Student meeting – September 2014 First experiment (NEW MODEL): open-loop Clarke/Park control RESULTS Clarke/Park transform PWM Experimental output Simulated output Experimental output Simulated output

Matteo Macchini Experiment setup Student meeting – September 2014 Second experiment: double-feedback position control LAYOUT Position feedback PWM Input Direct current feedback

Matteo Macchini Experiment setup Student meeting – September 2014 Second experiment: double-feedback position control RESULTS Experimental output Simulated output

Matteo Macchini Experiment setup Student meeting – September 2014 Just some observations… Peak values are slightly different Different steady-state value Ripple

Matteo Macchini In the future… Student meeting - September 2014 CONCLUSIONS Finite precision control can be implemented – will need at least 32 bit Experimental bench is now “properly” working Model was wrong. Still has to be improved anyway

Matteo Macchini In the future… Student meeting - September 2014 NEXT GOALS New experiments to validate model Fix little problems with the hardware Implement scan controller on the bench VHDL/hardware design and porting to FPGA