In this paper, we investigate the advantages and feasibility of motor control using very fast (in megahertz) switching in place of traditional amplifiers. We also propose integrated motion control architecture based on discrete-event control approach to be implemented in digital logic at an equally high rate. A switching controller combines the current and motion feedback paths into a single loop. A model-based observer estimates the load torque. When compared to second-order controllers implemented with traditional amplifiers, the proposed design promises increased performance, better efficiency, and improved load estimation. Simple implementation makes concepts of switching control very attractive in motion-control systems like control of dc or ac servomotors. The control algorithm designed by the proposed approach can be easily implemented on field programmable gate array platforms.
COBISS.SI-ID: 13440534
This paper proposed a novel predictive variable structure switching based current controller for a three phase load driven by a power inverter. The design specifications are robustness to load electrical parameters, fast dynamic response, reduced switching frequency, and simple hardware implementation. In order to meet previous specifications, a sliding mode controller has been developed, which is designed as finite state automata, and implemented with a field programmable gate array (FPGA) device. The switching strategy implemented within the state transition diagram provides for a minimum number of switches by the three phase inverter that is confirmed through simulation and experimental results. Its regulation using the proposed control law provides good transient response by the brushless ac motor control. However, this does not limit the wider applicability of the proposed controller that is suitable for different types of ac loads (rectifier and inverter) and ac motors (induction, synchronous, and reluctance). A new logical FPGA torque and speed controller is developed, analyzed, and experimentally verified.
COBISS.SI-ID: 16608790
This paper presents a pulsewidth modulation (PWM) algorithm for a three-phase ac-dc rectifier, where the third and fifth harmonics are indicated in the input phase voltages. A mathematical analysis, which includes this voltage harmonic's components, shows that the unity input displacement factor (IDF) can be reached by appropriate evaluation of duty-cycle functions. A PWM algorithm is proposed based on this developed theoretical achievement. This approach enables current sensorless unity IDF rectification. The PWM algorithm is investigated theoretically and verified by simulations and experiment.
COBISS.SI-ID: 15236630
This paper proposes a FPGA-based Sliding Mode Controller for scaled bilateral teleoperation. The control algorithm is derived by using the sliding mode control based design approach. The applied design procedure replaces a discontinuous control with a continuous one. Thus, it guarantees chattering-free performance whilst retaining practical robustness regarding disturbances, and provides easy model-free implementation. A high control rate is strongly required in order to achieve high-performance scaled bilateral teleoperation. Hence, the control algorithm is implemented by the FPGA. In order to design a sufficient logic circuit for the FPGA, general optimization approaches are presented that aim to minimize hardware resources, and to optimize the control rate. The design applies high-level programming language (LabVIEW) for rapid prototyping. The presented algorithms were validated by the 2- DoF laboratory bilateral teleoperation system.
COBISS.SI-ID: 16563990
During the E-learning Distance Interactive Practical Education project, 13 partners from 11 European countries joined together to build a power engineering and motion control remote laboratory, which would offer 18 complete online courses with remote experiments and high-quality documentation, to students from the universities of all participating partners. The major benefit of this project is the possibility of sharing expensive equipment and lessening the burdens of technical and organizational problems. This paper outlines the project's goals, organization, and, as an example, realization of one of the project's modules. The described module is a mechatronics motion control course, which explains the most important aspects of motion control design, from modeling, simulations, control design, experimental validation, and comparison between various controllers. The technical solutions, educational strategy, and realization details are given for the module. The pilot testing of the module was performed to assess the module and find out what the students' personal attitude concerning e-learning and remote experiments. The results of testing are presented and discussed.
COBISS.SI-ID: 14387222