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Faculty of Electrical Engineeringand Computer Science
e-mail: [email protected].: 02/ 220-7300fax: 02/
220-7315
www.ro.feri.uni-mb.si
UNIVERSITY OF MARIBOR
University of MariborFaculty of Electrical Engineeringand
Computer ScienceInstitute of Robotics
Smetanova ulica 17, Maribor
tel.: +386 2 220-7300fax: +386 2 220-7315e-mail:
[email protected]: www.ro.feri.uni-mb.si
We use equipment of:
Links on our Institute:
designedbyDejanKos
Beside the DSP2 board also a water-cooled power inverter
with a power rating of 130 kW (developed by the Institute of
Robotics) is a part of the motor drive. The developed speed
sensorless algorithm was tested on several real
applications using a 132 kW motor.
8 Nasa Space Telerobotics Program,8 Robotics Internet Resources
Page of University ofMassachusetts,8 Control Engineering Virtual
Library.
This system is used for the design of the induction motor
control algorithms. It consists of two mechanically
connected (common axis) but separately controlled
electrical motors, where one of them serves as the drive
machine and another as the active brake.
Procedures for the rapid prototyping can be executed,
which means that the models are replaced by the actual
systems ("hardware-in-the-loop"). Actual mechanism of
the load is replaced by the appropriate control of the
activebrake, which besides the static emulation also makes
possible the dynamic emula-
tion of mechanical loads.
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Controller /Inverter - BLDCM
Inverter - IMController - IM
(dSPACE)
current measurement
DC link
DC link
PC - reference setting,data acquisition and
software development
Motordrive(IM)
Activeload
(BLDCM)
algorithm developmentSystem for rapid control
International references
Matlab / Simulink
DSP Terminal
U =11aK =0,2p
Compiler
*.c011010...
Simulator
DSP2 board
DSP
Real object
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The Institute of Robotics performs
fundamental and applicable research in the
areas of robotic systems, production
automation, sensor systems, control theory,
modelling, identification, computer based
process control, industrial robotics, servodrives, robotic
controllers and control algorithms. We develop
modern control algorithms for position, speed and torque
control for implementation in various kinds of electrical
actuators and robotic construction mechanisms.
DSP2 board
Rapid development of information technology also has to be
adopted by the field of education. Thus in year 2003 a
hypermedia classroom and laboratory (HIPULAB) were
established. The main purpose of this achievement is to be
able to implement computer links with other people (video
conferences, distance education etc.)
Head of the Institute of Robotics Prof. Dr. Karel Jezernik
At the Institute of Robotics the so-called DSP2 board based
on the Texas Instruments floating-point processor
TMS320C32 and Xilinx FPGA of the Spartan family, was
developed. The board is being used for torque, speed and
position control of AC and DC machines.
Our work and products...
About Institute
www.hipulab.uni-mb.si
DC motor control
The simplicity of DC motor control makes this kind of motor
suitable for the introduction to servo drives. Conclusions
based on DC motor control can be implemented on control
algorithms that involve AC machines.
A so-called H bridge is used as the power electronics unit
for
DC motor control. Its task is to maintain power conversion
between the signal and raw power level. H bridge is
assembled with MOSFETs, gate drivers (MGDs) and a Hall
sensor for branch current measurement. It is designed to
perform motor control with DSP2 board. This combination is
a "whole package" for electri-
cal drives in the educational
process.
Matlab/Simulink is a powerful simulation program that is
widely used in the research area of dynamic systems. Real-
Time Workshop (RTW) is Simulink add-on software that
enables automatic C code generation form the Simulink
model.
Simulation of any type of signal processing algorithm can be
performed using fixed-point or floating-point arithmetic.
After simulation results validation, using RTW, DSP2 library
for Simulink and C compiler, the Simulink model can be
transferred to binary code and downloaded on the DSP2
board. While binary code is executed on the DSP2 board in
real time, signals can be monitored in text or graphical
mode
on the PC within the
DSP Terminal. In addi-
tion, all or only selected
Simulink block para-
meters are tunable in
online mode.
Online signal monitoring andparameter tuning
Matlab / Simulink / RTW
Code Composer
C code
Binary code
Program downloadon DSP2 board
RS-232
DSP2 board can be programmed with C language or with the
use of Matlab/Simulink.
In the Velenje coal-mine the induction machines are the
biggest consumer of electrical energy. They are used to
drive water or hydraulic pumps, where the power rating of
these pumps reaches as high as 100 kW or more, and to
drive coal transporters with power ratings over 500 kW.
Existing drives with induction machines without a speed
sensor had to be upgraded with frequency inverters
allowing control of torque and speed in a speed sensorless
mode of operation. As a consequence higher efficiency,
lower power consumption and longer life span could be
achieved.
Sensorless AC motor
control
