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2013 International Conference on Computer Communication and Informatics (ICCCI -2013), Jan. 09 11, 2013, Coimbatore, INDIA
I.
INTRODUCTION
2013 International Conference on Computer Communication and Informatics (ICCCI -2013), Jan. 09 11, 2013, Coimbatore, INDIA
(1)
(2)
1
0.9
0.8
0.7
0.6
Output
0.5
0.4
0.3
0.2
Actual response
Simulated response
0.1
0
10
15
20
25
Time (ms)
30
35
40
45
50
Eb ( s ) K b s ( s )
(3)
(t )
(4)
dt
Or,
T ( s ) ( s )[ Js B ] s
(5)
So,
I a (s)
s[ Js B ]
(s)
(6)
Kt
(s)
Va ( s )
Kt
s[( Js B )( sLa Ra ) K t K b ]
(7)
B. Parameter Identification
The circuit schematic for estimating the control parameters
of the motor has been illustrated in Fig. 1. The response of the
motor was tracked by using the FPGA, and the generated data
was transferred to the PC by means of serial communication.
The I/O data was used in the matlab parameter estimation
toolbox GUI to generate the proper values of the parameters of
the motor with the help of iteration. The result of the final
iteration is given in Table-I. For the sake of simplicity in the
implementation process, the motor model was linearized and
the non-linearity due to the presence of the dry-friction,
backlash and other model uncertainties were neglected. The
plant model has been given in Fig. 2. The output of the motor
optical encoder with a step response to the system has been
given in Fig. 10. The motor speed data has been obtained from
the rate of pulses of the optical encoder. A comparison of the
actual and simulated step response from the identified model of
the plant has been given in Fig. 3, which shows a rise time (Tr)
of 1.75ms and a settling time (Ts) of 3.11ms.
2013 International Conference on Computer Communication and Informatics (ICCCI -2013), Jan. 09 11, 2013, Coimbatore, INDIA
1.4
1.2
Output
1
0.8
0.6
0.4
0.2
u (t ) k p e(t ) ki e(t ) dt k d
de(t )
U s E s K p i Kd s
s
200
300
400
500
Time (ms)
600
700
800
900
1000
(8)
(9)
MOTOR PARAMETERS
Value
7
La
0.705 x 10-7 H
0.001728 Nms2/rad
0.00443 Nms/rad
Kt
1.22 Nm/A
Kb
1.22 Vs/rad
1.5
Y plane
Motor Parameters
Ra
There are various methods to tune the PID controller, here the
proportional (Kp), integral (Ki) and derivative (Kd) gains are
obtained from the Simulink PID tuner with the help of the
system step response. For implementation purpose, the gains
are rounded off to the nearest integer values while stabilizing
the system and the resulting system was again tuned until the
desired response was achieved. The block-level representation
of the complete system has been described in Fig. 4. The
controller description has been given in table 2. The controller
has been designed with a trapezoidal integral and filter
algorithm with a sampling frequency of 10 KHz. The step
response of the tuned and optimized system has been given in
Ts
100
dt
i.e.
TABLE I.
0
0
0.5
-0.5
-400
-350
-300
-250
-200
-150
X plane
-100
-50
50
2013 International Conference on Computer Communication and Informatics (ICCCI -2013), Jan. 09 11, 2013, Coimbatore, INDIA
Fig. 9. System simulation results at Xilinx ISE using the: (a) Behavioral simulation, (b) Post-route and synthesis simulation, (c) Technical
schematic.
TABLE II.
CONTROLLER DESCRIPTION
Controller Gains
Kp
Value
380
Kd
816
Ki
526
III.
From (6) and (1), we can obtain the system state model by
assigning variable x1 to motor angular position , x2 to
angular velocity , and x3 to armature current ia, as described
following,
x1 x2
(10)
x 2 ax2 bx3
(11)
x3 cx3 dx2 eu (t )
(12)
2013 International Conference on Computer Communication and Informatics (ICCCI -2013), Jan. 09 11, 2013, Coimbatore, INDIA
y x2
(13)
T J B
(15)
T Kt Ia
(16)
Eb K b
(17)
(18)
2 bu
x 2 ax
(19)
y x2
(20)
(B
Kt Kb
Ra
TABLE III.
K
) and b t .
JRa
DEVICE UTILIZATION
Logic Utilization
Used
Available
Utilization
202
1,536
13%
98
1,536
10%
104
162
3
2
1
-1
0
10
20
30
40
IV.
768
22%
171
171
100%
171
0%
297
1,536
19%
162
135
60
70
80
90
100
171
50
Time (ms)
Logic Distribution
Va I a Ra K b
Where a
CONCLUSIONS
Number of bonded
15
124
12%
Number of MULT18X18s
75%
Number of BUFGMUXs
37%
[1]
[2]
[3]
F.-J. Lin, L.-T. Teng, C.-K. Chang, Adaptive Backstepping Control for
Linear Induction Motor Drive Using FPGA, in Proceeding of IEEE
conference on Industrial Electronics, pp. 1269-1274, 2006.
Y.-Y. Tzou, T.-S. Kuo, Design and Implementation of an FPGA-Based
Motor Control IC, in Proceesings of IEEE IECON 1997, vol. 2, pp.
943-947.
L. F. Castano, G. A. Osorio, Design of a FPGA based position PI servo
controller for a DC motor with dry friction, in Proceedings of IEEE VII
Southern Conference on Programmable Logic, pp. 75-80, 2011.
2013 International Conference on Computer Communication and Informatics (ICCCI -2013), Jan. 09 11, 2013, Coimbatore, INDIA
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