1. Motion control implementation and validation for high precision, highly reliable moveable devices
Jorge Sola Merino (EN-STI-ECE)
Supervisors: Mark Butcher & Ricardo Picatoste

2. Outline Project Background Current state & achievements Future Work
Motor Drive Control Architecture
Resolver to Encoder Converter
Stepper Motor Drive
Future Work
29/11/2016

3. Project background Objective: Problems: Solution:
Improve control of stepper motors for collimators and targets
Problems:
Current solution works in open position loop
Highly radioactive environment
Long cables
Limited diagnostics
Solution:
Upgrade current drives to a full custom drive
29/11/2016

4. Project background
13/06/2017

5. Project background
29/11/2016

6. Project background
29/11/2016

7. Motor Drive Control Architecture
With current drive
Motor Drive Control(MDC)
PXI
Step
Drive
Stepper Motor
Long cables
Voltage
Direction
Excitation
Resolver
Secondaries (Position info)
* Not all signals and blocks displayed for simplicity
13/06/2017

8. Motor Drive Control Architecture
To close the loop the drive must know the position of the motor.
What is a resolver?: Rotary electrical transformer used for measuring position. The amplitudes of the secondary signals are modulated by the position of the rotor.
Why resolver?: Robust and radiation hard.
Analog signal: Requires conversion to digital signal, typically, incremental encoder signal.
Solution: Design a ‘resolver to encoder converter’ device.
13/06/2017

9. Motor Drive Control Architecture
With current drive
Motor Drive Control(MDC)
PXI
Step
Drive
Stepper Motor
Long cables
Voltage
Direction
Excitation
Resolver
Secondaries (Position info)
* Not all signals and blocks displayed for simplicity
13/06/2017

10. Motor Drive Control Architecture
With new drive
Motor Drive Control(MDC)
PXI
Step
Drive
Stepper Motor
Long cables
Voltage
Direction
Encoder
Resolver to Encoder converter
Excitation
Resolver
Secondaries
* Not all signals and blocks displayed for simplicity
13/06/2017

11. Resolver to encoder converter
My tasks:
Characterize the chip (AD2S1210 by Analog Devices)
Understand how it works and help in the schematics design
Test the developed boards
Some features:
16 bit resolution
4 channels
Hardware error detection
29/11/2016

12. Stepper motor drive Tasks: Firmware development Code optimization
Unit testing
Adding features
Upgrade firmware via serial port
Profiling mode
Post mortem acquisition
29/11/2016

13. Stepper motor drive Tasks: Commissioning of drives and R2E converters:
LHC goniometers
NA targets (T2, T4, T6 & T10)
29/11/2016

14. Future work Implementation of Extended Kalman Filter
Extending Unit Testing to all the code
Test new version of the R2E converter
Knowledge transfer with SHS
Developing a new branch of code for PMSM motors
29/11/2016

15. Thank you for your attention.
Questions?