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1
Uygur, Serdar. "An Fpga Based Bldc Motor Control System." Master's thesis, METU, 2012. http://etd.lib.metu.edu.tr/upload/12614104/index.pdf.
Full textAbstract:
In this thesis, position and current control systems for a brushless DC (Direct Current) motor
are designed and integrated into one FPGA (Field Programmable Gate Array) chip. Experimental
results are obtained by driving the brushless DC motors of Control Actuation System
of a guided missile. Because of their high performance, brushless DC motors are widely used
in Control Actuation Systems of guided missiles. In order to control the motor torque, current
controller is designed and implemented in the FPGA. Position controller is designed to
fulfill the position commands. A soft processor in the FPGA is used to connect and configure
the current controller, position sensor interfaces and communication modules such as UART
(Universal Asynchronous Receiver Transmitter) and Spacewire. In additionposition controller is implemented in the soft processor in the FPGA. An FPGA based electronic board is designed and manufactured to implement control algorithms, power converter circuitry and to perform other tasks such as communication with PC (Personal Computer). In order to monitor the behavior of the controllers in real time and to achieve performance tests, a graphical user interface is provided.
2
Franzén, Björn. "Designing a brushed DC motor controller : Laying the framework for a lab experiment involving position control with current feedback." Thesis, Linnéuniversitetet, Institutionen för fysik och elektroteknik (IFE), 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:lnu:diva-44169.
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In order to provide the means to set up a control theory lab experiment involving position control of a brushed DC motor with current feedback, a pulse-width modulated motor controller was designed. The output voltage is controlled by an analog reference signal and the magnitude of the output current and voltage are measured and output. These inputs and outputs are connected to a DAQ I/O-unit such that the lab experiment can be implemented digitally. In addition, defining equations for the whole system were derived. Comparison between measurements and model showed it possible to use the current as feedback if low-pass filtered and the angular displacement controlled over a small angular interval.
3
Richards, Tyler V. "Performance Characterization of IP Network-based Control Methodologies for DC Motor Applications." NCSU, 2005. http://www.lib.ncsu.edu/theses/available/etd-08042005-160943/.
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Using a communication network, such as an IP network, in the control loop is increasingly becoming the norm. This process of network-based control (NBC) has potential profound impact in areas such as: teleoperation, healthcare, military applications, and manufacturing. However, limitations arise as the communication network introduces delay that often degrades or destabilizes the control system. Four methods have been investigated that alleviate the IP network delays to provide stable real-time control. A performance measure is defined for a case study on a DC motor with a networked proportional-integral (PI) speed controller with various network delays and noise levels. Matlab simulation results show that NBC combined with these techniques can successfully maintain system stability, allowing control of real-time applications.
4
Macías, Cubeiro Rosa. "Development and Implementation of a Search and Locate Actuator System." Thesis, KTH, Elektrisk energiomvandling, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-109706.
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Over the last years, electrical roads have emerged as a cost effective and environmentally friendly solution towards a transportation system with less dependency on fossil fuels. This thesis presents the design of a search and locate system for road-bound conductive electrical roads with position control in two axes. The system is intended to find and follow the position of an electrified rail. The actuator system constitutes a firm groundwork for further research and development in this field. A laboratory test set up has been designed and both hardware and software parts have been constructed. The control of the system uses the CompactRIOTM technology from National Instruments. Results from the practical evaluation suggest that the non-linear characteristic of the system and the lack of direct position feedback from the motor rotation are the main causes of a non-accurate position control. Future development steps should focus on improving the mechanical design and include encoder feedback for the control loop as well as absolute automatic control with the incorporation of rail sensors.
5
Zare, Abbas. "Implementation of Embedded Control System for Electric Drives based on Automatic Code Generation." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2019.
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This project focuses on an improved methodology for embedded software development. MATLAB and Simulink allow the user to simplify control algorithm development for specific applications and load the implemented algorithms into the embedded target.
MATLAB allows constructing the control algorithms and its interface to different Digital Signal Processor (DSP) modules, such as A/D or D/A conversions and ePWM, as a block scheme in Simulink library. For example, Texas Instrument (TI) Company in collaboration with MATLAB allows the user to create a link between different DSPs of the TI and MATLAB software via the Simulink environment in order to generate automatically embedded C code adopted for different embedded targets.
The concepts of rapid prototyping and digital control technique in this project are realized based on using the Piccolo TMSF28035 TI C2000 MCU in conjunction with the Matlab/Simulink software based on an Integrated Development Environment (IDE) such as Code Composer Studio. Matlab/Simulink environment is used for the design, optimization, and off-line simulations of the model and power electronic circuits. The Real-Time Workshop converts the Simulink model to C or C++ programming code. Subsequently, the executable C code is automatically compiled to the assembly language for the TI C2000 MCUs, assembled, link-edited, and downloaded.
For the closed-loop controller, digital PI control is implemented and the values of the PI are defined by the pole placement method. Once the control scheme is built in Simulink, by automatic code generation capability of the MATLAB, the algorithm model is loaded into the DSP and runs the generated program.
6
Večerník, Jan. "Regulátor pohonu opony." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2008. http://www.nusl.cz/ntk/nusl-217701.
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Master's thesis describes and proposes solutions for a given problem of a drive in theater curtain DS Krakonoš - Vysoké nad Jizerou using modern microcontroller with voltage transducer.. There is given a detailed analysis of the problem, including the mathematical description of the entire system, then design and its subsequent implementation. The goal of this work is designed to apply a device designed to the engine, which moves theater curtain.
7
Ozturk, Salih Baris. "Direct torque control of permanent magnet synchronous motors with non-sinusoidal back-EMF." [College Station, Tex. : Texas A&M University, 2008. http://hdl.handle.net/1969.1/ETD-TAMU-2728.
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Dias, Rafael Nunes Hidalgo Monteiro. "Análise comparativa de técnicas de controle Fuzzy e matriz dinâmica aplicadas à máquina de corrente contínua." Universidade Federal de Goiás, 2017. http://repositorio.bc.ufg.br/tede/handle/tede/8098.
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This work presents a comparison between Fuzzy and dynamic matrix controllers. These controllers are applied to the direct current (DC) motor speed control, triggered by fully controlled three-phase rectifier. The construction of the real system and the development and validation of the computational model are described. The controllers’ parameters are obtained through an optimization process. Both control techniques are compared and results indicate better performance of the optimized controllers, which suggest their promise in nonlinear systems’ control, in which seeks out control without error, that fulfills well its duty and its able to resist the fatigues.
Este trabalho apresenta o comparativo entre os controladores Fuzzy e matriz dinâmica. Estes controladores são aplicados ao controle de velocidade do motor de corrente contínua, acionado por retificador trifásico totalmente controlado. A metodologia parte da construção do sistema real e do desenvolvimento e validação do modelo computacional. A obtenção dos parâmetros dos controladores é realizada através do processo de otimização. Realiza-se análise comparativa entre as técnicas de controle e os resultados apontam para a proeminência de controladores sintonizados via processo de otimização como técnica promissora a ser empregada em controle de sistemas não lineares, nos quais buscam-se controle em que não há erro, que cumpra bem o seu dever e apto para resistir às fadigas.
9
Janeček, Jan. "Řízení pohybů dvouramenného žonglovacího stroje." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2012. http://www.nusl.cz/ntk/nusl-230105.
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The diploma thesis is a part of the project Intelligent double arm juggling machine. The project is divided into two diploma thesis. This thesis deals with the motion control of juggling arms. Information about hardware and software resources used in this project is in the first part of thesis. There is explanation of the control loop, explanation of used communication protocols and implementation of program proceeding in the second part of thesis.
10
Chiang, Hsin-Hui, and 江信輝. "Design of FPGA Based Fuzzy Controller for Position Control of DC Motor." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/03134551381359837707.
Full textAbstract:
碩士華梵大學
電子工程學系碩士班
93
In this paper, we propose an FPGA-based fuzzy controller for position control of brushless DC motors. In this fuzzy control circuit, we present a modified circuit structure for the operation of firing the membership grades of antecedent fuzzy sets. In traditional fuzzy control circuits, the fuzzy membership function is stored by means of a ROM table such that the corresponding membership grades triggered by the input signals can be searched from the look-up table. Such a design may use a great number of circuit elements with bad precision. Furthermore, the maintenance and modification of the circuit is in general difficult. In this paper, a circuit using calculation operation is proposed to solve this problem. It not only simplifies the circuit design but also gets a better control precision. 49 fuzzy IF-Then rules are designed for this 8-bits fuzzy control digital circuit. In additional to the fuzzy control circuit, the feedback circuit, error generation circuit and PWM driver circuit are all studied extensively. Finally, the control circuit is implemented in an Excalibur FPGA chip which is produced by Altera company. The experiment results show that the proposed fuzzy control circuit is correct and can be applied for the position control of DC motors.
11
Saikumar, Niranjan. "Experience Mapping based Prediction Controller." Thesis, 2015. http://etd.iisc.ernet.in/2005/3962.
Full textAbstract:
A novel controller termed as Experience Mapping based Prediction Controller (EMPC) is developed in this work. EMPC is developed utilizing the broad control concepts of human motor control (HMC). The concepts of HMC are utilized to develop the core concepts of EMPC for the control of ideal Type-1 LTI systems. The control accuracy of the developed concepts is studied and the mathematical stability criterion for the controller is developed. The applicability of EMPC for the control of real world problems is tested on a Permanent Magnet DC motor based position control system.
1. Novel learning methods are presented to form experience mapped knowledge-base (EMK) which is used for the creation of the forward and inverse models.
2. Control and Adaptation Techniques which overcome the presence of non idealities are developed using the inverse model.
3. Two separate techniques which utilize the forward model for improving the adaptation capabilities of EMPC are developed.
4. Two novel techniques are developed for the improvement of the tracking performance in terms of the accuracy and smoothness of tracking.
These techniques are tested under various system conditions including large dynamic parameter changes on a simulation model and a practical setup. The performance of EMPC is compared against that of PID, MRAC and LQG controllers for all the proposed techniques and EMPC is found to perform significantly better under the various system conditions in terms of transient and steady state characteristics.
Finally, the effectiveness of EMPC in stabilizing unstable systems using the concepts developed is tested on a practical Inverted Pendulum system. The problem of the simultaneous development of experiences and control of the system is addressed with the stabilizing problem.
The proposed controller, EMPC provides an alternative approach for the existing control of systems without the requirement of an accurate system mathematical model. Its capability to learn by directly interacting with the system and adapt using experiences makes it an attractive alternative to other control techniques present in literature.
Keywords: EMPC, Position Control, PMDC motors
12
Kuo, Chih-Kuang, and 郭志光. "A Position Control for Linear DC Brushless Motor." Thesis, 1999. http://ndltd.ncl.edu.tw/handle/36525718270951791441.
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LIU, CHUNG-HSIAO, and 劉忠孝. "Position control for a sensorless brushless dc motor." Thesis, 1992. http://ndltd.ncl.edu.tw/handle/66553332260381674975.
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Chen, wei-che, and 陳偉哲. "Fuzzy Control of Brushless DC Motor without Position Sensors." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/szvxv6.
Full textAbstract:
碩士國立臺灣師範大學
工業教育學系
96
This study performs the blushless DC motor control without position sensors. In general, hall sensors and appropriate commutation circuits are required to implement the feedback control for blushless DC motors. However, mounting sensors is unsuitable in some situations, such as high temperature, corrosion environments, small space, etc. Therefore, in order to implement the control of blushless DC motors without sensors, this paper utilizes the average terminal voltage method to estimate commutation signals, because the method do not require to detect zero-cross points. Through these commutation signals, the motor speed can be obtained. In addition, the implementation circuits include MicroChip dsPIC30F4011 control MCU and Cyntec intelligent power module (IPM) IM-13400, etc. Finally, a fuzzy tracking controller is developed for the blushless DC motors without sensors. Also, comparison between PID and fuzzy control is presented to demonstrate the effectiveness of the fuzzy tracking controller. Keyword-Fuzzy Control、Sensorless、Brushless DC motor (BLDC)
15
Lin, Tzyy-Cherng, and 林梓誠. "POSITION CONTROL OF A LINEAR BRUSHLESS DC MOTOR DRIVE." Thesis, 2000. http://ndltd.ncl.edu.tw/handle/63892581272071877304.
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碩士國立清華大學
電機工程學系
88
Compared with rotary motors, linear motors possess many advantages in linear motion driving applications, such as direct driving, low frictional loss, high position control accuracy, high speed, high acceleration and deceleration capability, maintenance free and large structural flexibility, …, etc. In this thesis, the position control of a linear brushless DC motor (LBDCM) drive system is studied. First, an one-dimensional table driven by LBDCM is established, wherein the Hall-effect sensors and linear encoder are employed to obtain the position information of moving member. For obtaining good position driving performance, a current-controlled voltage source inverter (VSI) with lowly-distorted sinusoidal output current is developed, the commutation instant tuning of inverter to yield better force generating capability of a LBDCM is also studied. It is known that the dynamic model is indispensable for performing the controller analysis and design. In this thesis, the dynamic modeling of LBDCM is described. According to the estimated motor drive dynamic model at nominal case, a two-degree-of-freedom controller (2DOFC) is first designed to meet the prescribed position tracking and load regulation responses. As the system parameter and operating condition changes occur, the given control requirements will not be satisfied further. A robust controller (RC) and an output feedback linear model following controller (MFC) are further developed to reduce the degradation of performance. The control performance comparison between these two types of position controllers is made. After confirming the validity of the designed controllers by some simulations, the realization of controllers is made and the driving performances of the whole linear motor drive are demonstrated by some measured results. Finally, a ramp position command with suitable changing rate is generated to avoid the occurrence of speed limitation, and thus the overshoot of position response due to large step command change can be eliminated.
16
Chang, Wei-Yau, and 張維堯. "Brushless DC Motor Control Without Position and Speed Sensors." Thesis, 1996. http://ndltd.ncl.edu.tw/handle/22123435011943354200.
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碩士國立清華大學
動力機械學系
84
The thesis forcuses on sensorless design and speedontrol of brushless DC motor. The operation of brushless DCotor relies on position sensors to detect the rotor magneticole position, and then the proper commutation signal can bebtained. Besides, the speed sensor is needed to constituteor speed feedback loop. The first part of the thesis is totudy the sensorless algorithm to replace position and speedensors of motor. The second part is to apply digital phase-ock loop (DPLL) control algorithm for the sensorlessrushless DC motor. First, a steady, simple algorithm for position sensorlesss proposed to detect rotor magnetic pole position. So thathe Brushless DC motor can operate correctly without Hallensors. Then a speed sensorless method is suggested for arushless DC motor in order to replace the FG sensor whichs widely used in brushless DC motor. The speed sensorlessethod uses three phase commutation signal of motor toenerate a square wave, a FG-like wave, which can be treateds a FG sensor with 12 pulses each motor mechanical period.he FG-like wave is used to give speed feedback signal forpeed control. Second, a digital phase lock loop speed controller issed for the full-sensorless brushless DC motor. A DPLLontroller constitutes automatic frequency controller (AFC) nd automatic phase controller (APC). AFC is used to decreaseise time of motor speed, and APC is used to improve speedluctuation of motor.
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CAI, WEN-JIN, and 蔡文進. "Optimal variable-structure controller for DC motor position control." Thesis, 1991. http://ndltd.ncl.edu.tw/handle/22877025811588603315.
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Durusu, Nezih Y. "Brushless DC motors, velocity and position control of the burshless DC motor." Thesis, 1986. http://hdl.handle.net/10945/21698.
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PENG, YU-JIE, and 彭禹傑. "Windows Target Based Motor Position Control." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/93889418934978161237.
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碩士中國文化大學
機械工程學系數位機電碩士班
102
This thesis mainly discusses how to use Windows Target real-time control toolbox in Matlab system, as a DC motor positioning controller. The control algorithm is the Bang-Bang control, which ensures the position tracking of the motor accurately and effectively in an unstable and unknown situation. Regarding the hardware, the host personal computer acts as controller which uses data acquisition cards PCI-1716 high-resolution multi-function of Advantech Technology (Advantech) as a communication media between PC the plant. On the other hand, because the power of PCI-1716 is too small, it is necessary to add motor drivers L298N and counter circuit which is connected with motor encoders. The experiment uses Matlab (Simulink) graphic control software to design programs. Matlab (Simulink) graphic control software contains driver programs which support PCI-1716 to operate directly and auxiliary modules which help PCI-1716 to operate practically. The experimental results, verify the effectiveness of the control design.
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Chen, Yu-Jen, and 陳愈仁. "Model Reference Fuzzy Position Control of a DC Brushless Motor." Thesis, 2003. http://ndltd.ncl.edu.tw/handle/872695.
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碩士中原大學
電機工程研究所
91
The main purpose of this thesis is to study the design of a Model Reference Fuzzy Controller (MRFC) for position control of a DC brushless motor. A DC brushless motor is a high order and nonlinear system whose internal parameter values vary with different environments. On the other hand, a fuzzy controller is highly robust and its design needs no prior knowledge of controller system model. Therefore, it is suitable to use a fuzzy controller for a DC brushless motor system. Usually, the two inputs of a traditional fuzzy controller are the close-loop system error and error rate. In this thesis, the former is reserved, but the latter is replaced by the error between outputs of a reference model and the plant. So it is called MRFC. In general, the rule base and the Scaling factors of fuzzy controller have decisive effects for response, convergence and stability of the closed-loop system. The rule base and the Scaling factors are usually chosen by experience or by trial-and-error. To optimize the MRFC, this thesis uses Adaptive Genetic Algorithm (AGA) to adjust the rule base parameters and the scaling factors of MRFC, simultaneously. Both the results of the simulation and the experimental show that the response of the MRFC optimized by AGA is better than the response of the PID controller optimized by the same AGA.
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WANG, SHU-WEI, and 王暑衛. "Microprocessor-based brushless DC motor driving without rotor position sensor." Thesis, 1989. http://ndltd.ncl.edu.tw/handle/75059081318233936652.
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Tseng, Hao-Ting, and 曾浩庭. "Development of Rotor Position Sensorless Control for Brushless DC Motor Drives." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/6e48ja.
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碩士明志科技大學
電機工程系碩士班
103
This thesis presents the development of rotor position sensorless control for brushless DC motor drives. The back-EMF detection is firstly used to estimate rotor position, and the linear interpolation method is proposed to implement closed-loop field-oriented control to drive brushless DC motor without rotor position sensor. In this thesis, the mathematical models of brushless DC motor and inverter are analyzed. Then, the voltage space vector modulation is used to increase the voltage utilization from the inverter. A high-performance and low-cost digital signal processor (DSP, TMS320F28069) is used to control the system for reducing the circuit complexity. Experimental results indicate that the motor operates under 1500 RPM by the proposed rotor position estimator technique.
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Yung-Chin, Chen, and 陳永欽. "Design and Implementation of DC Motor Position Control Using Acceleration Feedback." Thesis, 1993. http://ndltd.ncl.edu.tw/handle/68916710193157438946.
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碩士國立臺灣大學
機械工程研究所
81
Design of a d.c. motor position controller is important to most industrial appplications. However, subject to the load disturbances and parameter variations of the control system, a method of increasing the robustness of the controller becomes essential to most design specifications. The acceleration feedback and the cascade concept are then used to fit this requirement. In this thesis, PDF and cascade acceleration feedback controllers are introduced. Their design processes are then given in detail. A comparison between the conventional PID controller and these two new controllers is also shown in this thesis. The acceleration feedback adds equivalent mass to the system to increase the controller stiffness. This effect becomes even more obvious when the cascade controller is used along with the acceleration feedback, because it decouples the system into three independent loops - the acceleration loop, the velocity loop, and the position loop. Controllers are designed separately in all three loops. This feature greately reduced the design effort and simplified the implementation processes of the controller. These two controllers are implemented using Sproc DSP development system. To prove the validity of our design, simulation results and experimental data are compared with each other. The robustness of the controller due to parameter variations and load disturbances are greatly reduced after the acceleration feedback is added.
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Dong, I.-Shun, and 董義雄. "Adaptive Fuzzy Sliding Mode Position Control of a Brushless DC Motor." Thesis, 2003. http://ndltd.ncl.edu.tw/handle/445a3w.
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碩士中原大學
電機工程研究所
91
Investigated in this thesis is the feasibility of using Fuzzy Sliding Mode controller (FSMC) for position control of DC brushless rotary Motor. The parameters of DC brushless rotary Motor will change slightly with different input command. And FSMC can achieve good output response even when the plant model has some uncertainty. The structure of the control algorithm in this thesis is to combine fuzzy control with sliding mode control. And in the optimization part of the control algorithm, the 3*3 fuzzy rule base and the gains of the control algorithm are searched simultaneously through adaptive genetic algorithm (AGA), whose adaptive crossover rate and mutation rate can avoid falling into local optimum and speed up the convergence. The simulation part of the control algorithm design is done through the software of Matlab/Simulink. As for the experiment part, we use the DC brushless rotary Motor, power amplifier and TI DSP (TMS320 F243) controller supported by Juniortek to verify and improve the feasibility of controller. The results show that, FSMC is highly robust even when the plant model has some uncertainty, and the optimal FSMC designed by AGA can track position command rapidly.
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Wang, Hsiao-Ping, and 王孝平. "FPGA Implementation of High-Speed Fuzzy Control Algorithm for DC Motor Position Control." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/80713732098385516981.
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碩士華梵大學
電子工程學系碩士班
97
Abstract In this thesis, a fuzzy controller which is implemented in an FPGA chip is used for the position control of DC motor. The digital circuit design for fuzzy controllers was widely studied in the literature with many applications. Compared with the existing works, this thesis will focus on the design issue of circuit operation speed and would like to realize a high speed fuzzy controller. To achieve this objective, we use the technique of parallel architecture, direct computation and combinational circuit for the design of controller. In order to simplify the operation of input firing, we adopt the triangular membership function as the fuzzy sets for antecedent part. Only those triggered fuzzy rules are used to calculate the firing strength when dealing with the fuzzy inference. For the consequent part of the fuzzy rule, the design parameters are stored as a ROM TABLE so that it can be easily achieved for fuzzy inference. Finally, the center average defuzzifier is used to construct the defuzzification. As the divider is the most important part of defuzzification, a special divider circuit structure is proposed so that only one clock computation time is required for the operation of division. In order to demonstrate the correctness and efficiency of the proposed fuzzy control circuit, we combine the fuzzy controller with feedback circuit, comparison circuit as well as driving circuit and implement the whole controller in a Xilinx spartan3 FPGA chip. The digital fuzzy controller is applied to the position tracking control of DC motors. According to the simulation and experimental results, we show that the presented fuzzy control circuit is feasible. Keywords：FPGA, fuzzy control, DC motor
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Yeh, Po-Jen, and 葉博仁. "Apply PC Based Control To DC Servo Motor Control." Thesis, 2002. http://ndltd.ncl.edu.tw/handle/68521720738619461664.
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碩士義守大學
電機工程學系
90
Due to the advanced progressivism, performance rising and cost down of Personal Computers (PC), the PC based control has become the hot research topic. At the same time, the PC based control has been the main trend in industrial control because it can achieve the fast data process, network, friendly human machine interface and etc. Many control theories have been developed for several years. From these methods, the PID control is one of the most extensively used methods in the industrial controls, since the calculation of PID control is very simple and easy to realize. After tuning the necessary parameters, one can get a good control performance. By integrating of PC and PID control rule, a DC servo motor position control is implemented through the printer port. The effects of controller parameters are also discussed in this thesis according to experimental results.
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Chen, Ming-hui, and 陳銘輝. "Implementation of Position control of a Linear Brushless DC Motor Drive System." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/356zbk.
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碩士國立臺灣科技大學
電機工程系
94
The purpose of this thesis is to build a position control system of a linear motor driver. The front stage employs a single-phase full-bridge boost type AC/DC converter, which provides the inverter stage with variable DC voltage. Then, a linear brushless DC motor is driven by the inverter to accomplish the motion control. The AC/DC converter conducts switching-mode operations, so that the low-distortion/high- power-factor line current is obtained. Moreover, this converter provides bidirectional capability when the dc link voltage needs to reduce or the motor decelerates. The motion controller consists of current, velocity, and position loop with parameters determined through root-locus method. For evaluating performance, the mathematical model of the proposed system has been established and simulated by Matlab/Simulink. Finally, a digital signal processor, TMS320LF2407A, is used to implement the controller of motion system. This controller supplies pulse-width modulation signals to the switches of the two power stages, and handles the motion command and feedback (position) signal. Both the simulation and experimental results are obtained to show the validity of the proposed system.
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Ho, Zu-Sheng, and 何祖盛. "Research on the Position Sensorless Control Technology of the Brushless DC Motor." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/bp38k6.
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博士義守大學
電子工程學系
103
The brushless DC motor rotor position sensors are needed to provide rotor position information for commutation. If the rotor is not placed in the best position, it might cause a phase-lag or phase-lead during commutation. The brushless DC motor can adopt a sensorless drive method to detect the rotor position and replace the rotor position sensors. This can remove the placement problems of rotor position sensors and enable the motor to run better in environments of high temperatures or humidity and other harsh conditions. However, the most troublesome aspects of the sensorless drive are the starting process and the impact that the sensorless method to detect the rotor position has on the operation. This dissertation presents a full speed range sensorless circuit that uses the PWM of commutation signals to filter out noise caused by PWM switching in the phase voltages. This makes the motor easy to start, does not produce phase shifting problems at high speed, and even achieves the purposes of high and low voltage systems. When the brushless DC motor is running, it will cause the problem of a current lag because of the characteristics of the inductor. To improve this problem, this dissertation proposes two correction methods: One is unexcited phase correction method. The method detects deviations from the current phase by using the two unexcited phase freewheeling current effects that exist within an electric cycle and then achieves phase correction through the phase control. The other way is the minimum torque ripple correction method, which uses the characteristics of the DC bus current driving produced in response to determine the phase deviation. Ultimately, the method uses the phase control to achieve the correction of minimum torque ripple to improve the problem of torque fluctuation when driving. In addition to providing the correct phase information for the sensorless drive, these two correction methods can also be applied to the sensor drive to improve the placement of the rotor position sensor offset problems. This dissertation integrates the proposed back electromotive force (BEMF) circuit, positive phase drive, and the minimum torque ripple drive to establish a platform for rotor position sensor calibration. The rotor position sensor is usually fixed on the PCB or embedded into mechanical structure. However, during the processing or assembly by operators, position deviation can easily occur. Currently, the rotor position sensor calibration methods make the rotor rotate by the method of dragging and make corrections through the relationship between the back electromotive force and the rotor position sensor. The proposed rotor position sensor calibration platform uses the sensorless drive in the correct phase or minimum ripple phase, determines the deviated angle by the relationship between the commutation state and the rotor position sensor, and then displays the error angle on the LCD or computer. Finally, the experiments verified that the sensorless circuit, correct phase correction, minimum ripple correction, and rotor position sensor calibration platform proposed by this dissertation are correct, and stably achieved the practical purposes of the theory.
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Chan, Chih-Chieh, and 詹志潔. "Adaptive Velocity and Backstepping Position Control for a Linear DC Brushless Motor." Thesis, 2004. http://ndltd.ncl.edu.tw/handle/85717170487008757967.
Full textAbstract:
碩士國立中興大學
電機工程學系
91
This thesis develops techniques and methodologies for design, analysis and PC-based implementation of an adaptive motion control system for a linear DC Brushless motor. A simplified model of the linear Brushless DC motor is presented. With this model, an adaptive nonlinear control method is proposed to achieve velocity tracking control and an adaptive backstepping control method is used to realize position tracking control, by assuming that the upper bounds of the ripple force and nonlinear friction are known. These proposed control methods are used to overcome the nonlinearities and to accomplish excellent motion servo control. The experimental setup consists of a linear Brushless DC motor, a photometer, a current-mode PWM driver (with a power supply device), and a PC-based system with an A/D converter card and a high-speed counter card. Computer simulations and experimental results are described which have been used to demonstrate the feasibility and effectiveness of the proposed schemes for velocity tracking and position control of the linear DC Brushless motor.
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Jheng, An-Jihi, and 鄭安智. "The Arduino-Based Brushless DC (BLDC) Motor Control." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/95860623476297926517.
Full textAbstract:
碩士南臺科技大學
電機工程系
104
This thesis proposes the drive design of a brushless DC motor (BLDC), employing an Arduino DUE as the core processor. In recent years, power electronics and permanent magnet materials technology have been mature, and the microcontroller functions have been increasingly powerful with low cost. Based on these advantages, the BLDC motors with low production cost will have more widespread industrial applications, and be popular in people's daily lives. Though Arduino boards are application-oriented, they are for general purposes, not aimed for real-time controller design for the BLDC motors. The Arduino instruction set is derived from the Atmel instruction set. Thus the Arduino instruction set is more complex, but readable at the expense of immediacy. To enhance the efficiency of the BLDC drive design, we should apply as many Atmel instructions as possible, instead of the Arduino instructions, in the programming design. From drive theory to circuit implementation, the thesis presents how to apply Arduino DUE to finish BLDC drive design . Moreover, the PI controller is applied to carry out motor speed control. Experimental results demonstrate the accuracy of the proposed design. Arduino has been popular for being an open-source electronics platform, but to date, there are few further industrial applications. We hope this thesis can promote more industrial applications using more Arduino chips in the near future.
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Wang, Tzu-Chien, and 王子健. "Speed Control of Four-Switch Three-Phase Brushless DC Motor without Position Sensors." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/55048584178763861139.
Full textAbstract:
碩士國立臺灣大學
電機工程學研究所
96
This thesis proves the practicability of the low cost structure using a four-switch three-phase inverter without position sensors, and proposes a novel fuzzy PI control theory. Besides theory computation, the thesis also presents complete experimental results in proof of the theory. Decreasing the cost of the actuators is a tendency in the future. This thesis applies a novel asymmetric pulse width modulation (PWM) scheme and uses the structure of four-switch three-phase (FSTP) brushless dc (BLDC) motor drives to reduce the cost. This PWM scheme not only achieves the BLDC motor using FSTP inverter, but also does not require any current sensor and complex algorithm, so the lowest manufacture cost of the inverter could be achieved. First, this thesis applies a novel commutation control for the FSTP BLDC motor drive without using position sensors. This sensorless control detects the crossing point of two floating voltages, and estimates the appropriate commutation timing. It only requires two voltage sensors to reduce the cost of position sensors and increases the reliability of whole system. Furthermore, this technique reduces the numbers of power switches and doesn’t require any position sensor. When the brushless dc motor runs with or without Hall sensors, the frequency of the position signals depends on the rotor speed. Considering this phenomenon, the fuzzy PI controller including three fuzzy logics and three PI controllers is designed in this thesis. If the speed of BLDC motor varies, the fuzzy PI controller will trigger the defined PI controllers depending on the rotor speed and sum the weighted output of each PI controllers. Then it delivers the command to the inverter in order to modulate the duty cycle. This kind of fuzzy PI controller provides higher flexibility of design, and a more robust goal is accomplished. The fuzzy logic of the fuzzy PI controller designed in this thesis is based on the rotor speed, and therefore the controller reduces the complex of fuzzy logics and is easy to be implemented. Finally, the whole algorithm is implemented in a DSP. This thesis focuses on distinct sampling methods, and the experimental results with distinct conditions are compared and discussed.
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Wong, Jia-Shing, and 黃家興. "DSP-Based Integral Variable Structure Control Of an DC Motor." Thesis, 1994. http://ndltd.ncl.edu.tw/handle/83790639182997425178.
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CHEN, JIAN-CIN, and 陳建秦. "DSP Microcontroller Based Control of Brushless DC Motor Drive System." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/s4x76g.
Full textAbstract:
碩士大葉大學
機械與自動化工程學系
105
This thesis developed the drive system of BLDC motor based on PICDEM MC LV development board with Microchip dsPIC30F3010 microprocessor. The embedded microprocessor has many built-in functional modules, including PWM, compare, timer, etc. The 3-phase MOSFET bridge was used as the motor drive circuit and 3-phase hall sensing circuit was used to detect the electrical angle of motor shaft. The PWM signal was used to control motor speed to achieve the DC brushless motor drive system. The PI control combined with the feedforward control was applied to the motor closed loop speed control. The UART communication module was used to transmit the actual speed of the motor to PC. The command waveform and the actual speed waveform of the motor were drawn with MATLAB. The hardware and software constructed in this thesis were applied to the speed control of DC brushless motor, and the feasibility of the proposed method was verified by simulation and experiment of various speed control.
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CHEN, SYUAN-TING, and 陳炫廷. "Design of DC Motor Speed Control Based on Touch Panel." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/95209626102597593818.
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Dai, Chia-Liang, and 戴嘉良. "A DSP Based Iterative Learning Control System for DC Motor." Thesis, 2003. http://ndltd.ncl.edu.tw/handle/37891134885402588808.
Full textAbstract:
碩士華梵大學
機電工程研究所
91
This thesis discusses the design of sampled-time iterative learning controller for linear time-invariant systems. A P-type iterative learning controller combining the concept of current error and forgetting factor is proposed for systems with initial state errors, input disturbance and output measurement noise. The convergence and robustness of the iterative learning system are studied extensively. In addition to a complete theoretical analysis, the computer simulations and hardware experiments are given to demonstrate the effect of the iterative learning controller. The performance improvement and practical realization of iterative learning systems are important issues in this field. It is shown that the differentiation of output error is not needed and the design of learning gain matrix is simple in the proposed iterative learning controller. If the smallest eigenvalue of the learning gain matrix increases, the learning rate and tracking performance can be improved significantly. When all the uncertainties and forgetting factor tend to zero, the tracking error will converge to zero in the final iterate. Finally, in addition to numerical simulations by Matlab program, a digital signal processor motion control card and a DC motor are also used to implement the controller. The experiments validate all the theoretical results given in the thesis.
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Tian, Wun-Gong, and 田文恭. "DSP-Based Novel Sensorless Control of Brushless DC Motor Drivers." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/en5vz7.
Full textAbstract:
碩士國立中山大學
電機工程學系研究所
97
The TI TMS320LF2407A DSP is used as the control kernel in this thesis, proposing a method of sensorless control for the brushless DC motor. With six-step pulse-width modulation, the information of the back electromagnetic signals can be detected and is used to estimate the rotor position instead of the Hall sensors. To strengthen the system and reduce the power consumption, we propose the idea of close loop framework, including speed feedback and current feedback. Then, the phase-change signal is set as no delayed, 15 degree delayed, and 30 degree delayed and compare the results each other. Finally, setting up experimental framework, to verify the superiority of sensorless drivers with close-loop framework, and choosing better phase-change degree to improve system and efficiency.
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Gow-Long, Tzeng, and 曾國隆. "The research of the direct neural controllerapplied to DC servo motor speed and position control." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/64952009279636923991.
Full textAbstract:
碩士東南科技大學
機電整合研究所
97
The DC servo motors are widely used in industry application. This research applies neural control to improve the stability, adaptability and self-learning ability of control system. The simulations and experiments are executed to investigate the dynamic responses for the control system requirement of high performance and accurate. This research studies the biological neuron structure and human neural network, then study the artificial neural network (ANN), which is applied to execute OR and XOR logical gates mapping problem. The convergent properties are analyzed and simulated with high convergent speed. This study applied ANN controller to DC servo motor speed regulator with load disturbance. The proposed neural controller does not need plant dynamical model, reference model and neural emulator. The simulation and experiment results show that the proposed speed regulator is available to keep motor in constant speed with high convergent speed. This study also applied ANN and ANN＋PD hybrid control to DC servo motor position control. The simulation results show that both of the ANN and hybrid controllers make control system have stable responses. The simulation results also reveals that the dynamic responses will be improved by previous training by a square command signal, which makes the neural network with appropriate initial values.
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Lin, Jie-Fong, and 林杰鋒. "Sliding-mode-based Precise-position Control Strategy for Linear Motor System." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/7mz8m5.
Full textAbstract:
碩士國立虎尾科技大學
自動化工程研究所
100
The purpose of this thesis is to develop a series of sliding mode control system which includes the traditional sliding mode control (SMC), the integral sliding mode control (ISMC) and the terminal sliding mode control (TSMC), and for the amount of uncertainty the development of adaptive and exact amount of estimate uncertainty to the control system, and using the digital signal processor-based for control core, by virtue of a processor’s powerful internal computing capability and multi-signal transmission interface for transmission to the linear motor positioning control. And can be verified for using the Lyapunov stability theory on linear motor with system uncertainty, these sliding mode control system still has progressive stability characteristics. To further enhance the system control performance, this thesis also design the exact estimation of uncertain amount, this control system design an exact uncertainty estimation to estimate to the uncertainties of the boundary value for overcome the lack of traditional control systems. Finally, the effectiveness and feasibility of the proposed control law and estimation uncertainty are validity by both numerical simulation and experimental results.
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Jiang, Rong Lin, and 江榮琳. "DSP-Based Integral Variable Structure Control Of A Brushless DC Motor." Thesis, 1994. http://ndltd.ncl.edu.tw/handle/68890788219795952198.
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SHU, YA-SYUAN, and 舒御軒. "Study of Three Classes of Iterative Learning Controller for the Application of DC Motor Position Control." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/89298640847795449562.
Full textAbstract:
碩士華梵大學
電子工程學系碩士班
103
In this thesis, we studythe design concept, circuit implementation and experiment analysis for three classesof iterative learning controllers, that is,the feedback iterative learning controller, the first type feedforward-feedback iterative learning controller and the second type feedforward-feedback iterative learning controller. Research motivation comes from the fact that feedback iterative learning controllercan achieve certain control performance and reduce the circuit memory capacity. On the other hand,the feedforward iterative learning controller can further improve the learning performance. Therefore, this thesisaims to presenta design method which combinesfeedback learningcontrol and feedforward learningcontrolso as to achieve better learning performance and remain the minimum memory capacity. In addition to the investigation of the three classes of iterative learning controllers, this thesisuses the hardware description language (VHDL) to implement the entire iterative learning controller into a digital circuit. The control circuit is divided into several sub-circuits with careful design and complete simulation. The control circuit is then synthesized by Xilinx ISE and then downloaded into the FPGA chip. Three classes of iterative learning control circuits are all applied to the position tracking control of brushless DC motor.The experiments show that all theiterative learning controllers can effectively control the motor to achieve the control objective which verifiesthat the controller design is feasible and digital circuits are correct. Finally, this thesis makes a comparison among the three classes of iterative learning controllers, and suggests to adopt the second type feedforward-feedback iterative learning controller for real applications. Keywords:Iterative Learning Control, Feedback learning control, Feedforward learning control, DC-Motor, VHDL, FPGA
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Chiu, Chih-Hao, and 邱執豪. "Position Sensorless Control of a 5kW Brushless DC Motor Drive Applied to Flywheel Energy Storage System." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/90791299478929774431.
Full textAbstract:
碩士國立中正大學
電機工程研究所
101
This thesis developments the position sensorless control of a brushless DC Motor drive applied to flywheel energy storage system in DC-microgrid by micro control unit. The system consists of a brushless DC motor brushless dc generator as dynamic load, a three-phase three-wire inverter, the auxiliary power supplies, a micro-controller and the auxiliary driving circuits. This thesis proposes the high-frequency signal injection combined with space-vector based feed-forward current control. A high frequency signal is injection into the three phase base frequency component. The motor current is feedbacked to obtain rotor angel and speed. The duty ratio is calculated by the micro controller. Finally, the position sensorless control is realized and verified by experimental results.
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Chen, Jenn-Yih, and 陳進益. "Passivity-Based Position Control and Rotor Resistance Estimation for an Induction Motor." Thesis, 2002. http://ndltd.ncl.edu.tw/handle/72324371792739352569.
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博士國立臺灣科技大學
電機工程系
90
This dissertation presents passivity-based adaptive control and sliding mode control schemes for the position control of an induction motor. First, the mathematical model of the induction motor in the synchronously rotating reference frame is derived from the three-phase circuit via the coordinate transformation. There is no need to design a rotor flux observer when the electrical parameters of the induction motor are known. The dynamics of the induction motor and the position controllers are analyzed to be passive by the passivity theorem. Furthermore, one can also design a rotor resistance observer and a sliding mode controller to estimate the rotor resistance and control the position of the induction motor. First, the input-output linearization theory is employed to decouple the rotor position and the flux amplitude in the rotor reference frame. Then, a flux observer is adopted to estimate the rotor flux. The passive properties of the rotor resistance observer with the flux observer and the sliding mode position controller are analyzed by the passivity theorem. The stability analysis of the overall position control system is carried out by using the passivity theorem instead of Lyapunov-type arguments. Finally, the C language is used to implement the proposed control algorithm on a PC-based controller, and applied to a three-phase induction motor for the position control purpose. Experimental results are provided to show good position response and fast convergent speed of the estimated parameters for the composite adaptive controller. The proposed sliding mode position controller with an adaptive law is valid for eliminating the chattering effects associated with a conventional sliding mode position controller. When the rotor resistance is varied with the temperature, the proposed rotor resistance observer with a sliding mode controller are effective in estimating the rotor resistance, load torque disturbances and tracking the rotor position.
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Huang, Chien-Yu, and 黃健毓. "Extended-EMF Based Position Sensorless Control of the Permanent-Magnet Synchronous Motor." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/97gs4x.
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碩士國立中正大學
電機工程研究所
106
The main purpose of this thesis is to develop the position sensorless control of permanent-magnet synchronous motor (PMSM) based on extended electromotive force (EMF). The rotor position and speed are estimated via extended EMF method. Moreover, Takagi-Sugeno (T-S) fuzzy control is adopted to implement the driving control of a PMSM. In the aspect of position sensorless control, the extended EMF algorithm is adopted and the extended EMF is estimated by using a least-order observer. In the aspect of driving control, the T-S fuzzy models are implemented to design the controller based on the concept of parallel distribution compensation (PDC). The stability analysis is verified through Lyapunov theorem. Finally, the controller gains are obtained by Linear Matrix Inequality (LMI). In this thesis, hardware configuration, auxiliary circuit and software scheme are introduced. The power switches of the PMSM driver are driven by space-vector pulse width modulation (SVPWM). All control schemes are digitally realized by the microcontroller. Eventually, the rotor position estimation and speed tracking performance are validated by experimental results.
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Lee, Hou-Ze, and 李後澤. "Position Control System of Linear Pluse Motor Based on Robust Backstepping Approach." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/397739.
Full textAbstract:
碩士國立虎尾科技大學
電機工程研究所
100
This thesis is based on the principle of robust backstepping control to develop a position-servo control system for linear pulse motor (LPM). To explore a high performance servo control technology, the complete theory is formulated via systematic analysis and synthesis process. The dynamic model is first established by using the concept of coordinate transformation that transfers the mathematic model of LPM into a compact form for facility of designing work. Then, considering the effects of load disturbance and parameter variation, the proposed approach employs the advantages of fuzzy neural network and adaptive tuning technique to the development of robust backstepping control algorithm. Various motion trajectories are utilized to examine the performance of the control system. Simulation and experiment results demonstrate the accuracy, validity, and highly robust ability of the proposed system.
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Richards, Tyler. "Performance characterization of IP network-based control methodologies for dc motor applications." 2005. http://www.lib.ncsu.edu/theses/available/etd-08042005-160943/unrestricted/etd.pdf.
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Huang, Chi-Jei, and 黃啟瑞. "A FPGA-based Design and Implementation of a DC Motor Control Chip." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/06487594705675569385.
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碩士國立臺灣海洋大學
電機工程學系
92
The DC motor is one of the most common servo control elements, which appear so often in the industrial machines and computer peripherals. The purpose of the thesis is to design an integrated control chip for DC motor’s speed and position control. This control-specific CPU chip integrates a PWM generator, AB phase decoder circuit, matrix keyboard processing circuit, ADC control circuit, UART interface, PID, fuzzy controller and a divider. The control chip, using approximately 40,000 logic gates, is modularly designed via VHDL, and is verified by the FPGA implementation. Shown by the our experimental results, the FPGA control chip indeed makes DC motor position and speed control task successful.
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Luo, Kuo-Wei, and 羅國偉. "Design and Implementation of PC-based H∞ Control for Brushless DC Motor." Thesis, 2003. http://ndltd.ncl.edu.tw/handle/73894167622424567230.
Full textAbstract:
碩士國立海洋大學
電機工程學系
91
This paper is concerned with implement of the PWM drivers and system robust control by using H∞ control for brushless DC motor. Such that the system have robust stabilize achieved disturbance rejection and noise attenuation. The Design of H∞ controller apply the system transfer function satisfies the demand specification. The step of design controller includes loop shaping, selections of weighting function, transfer to standard H∞ control problem, solved two Riccati Equation and γ iteration find central controller K(s). Simulation of disturbance rejection and noise attenuation in MATLAB/SIMULINK to prove H∞ controller satisfies the demand specification. Finally implementation of the H∞ controller for brushless DC motor servo control in C language.
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Li, Kwun-Fung, and 李貫峰. "Application of a Distributed Multi-Microcontroller Based Two-Axis Servo Motor Position Control." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/55826942083556449569.
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碩士淡江大學
航空太空工程學系碩士班
102
This thesis focuses on the design of a dual-axis servo motor position control using a multi-microcontroller architecture. The position command (attitude of the air vehicle) is computed by the multi-microcontroller system. The thesis mainly consists of hard design (servo motor control board), software design, and attitude computation. Rodrigues Parameters based unscented Kalman filter using C language is implemented in this embedded design for attitude determination. Position control and speed of response of the servo motor is verified through experiments using the finished system. Comparison of attitude computation using quaternion based and Rodrigues Parameters based unscented Kalman filters is also addressed in the thesis.
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PAN, JIAN-TING, and 潘建廷. "High Frequency Injection Based Position Sensorless Control of the Permanent-Magnet Synchronous Motor." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/68462308044553779546.
Full textAbstract:
碩士國立中正大學
電機工程研究所
104
The main objective of this thesis is to realize the position sensorless control of the Permanent-Magnet Synchronous Motor (PMSM) by using high frequency injection method. Good driving performance at low speed can be obtained via this method. The system structure includes the three-phase three-wired full-bridge inverter, auxiliary power supplies, PMSM and the peripheral circuits of the microcontroller. The control architecture includes high frequency estimator, speed controller and current controller. All the estimator and controller are realized by PI controllers. Finally, the Space Vector Pulse Width Modulation (SVPWM) is implemented to drive the motor. All control strategies are accomplished via the microcontroller RX62T. The circuit topology is simplified and the hardware cost is reduced.
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Lee, Jeng-Han, and 李政翰. "DSP/FPGA-Based Fuzzy-Scheduling Position Control of Linear Permanent Magnet Synchronous Motor." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/06604290017661062211.
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碩士長庚大學
電機工程研究所
93
Recently, linear motors have been widely applied in versatile high-tech industries. These achievements are primary based on the high-precision position control. Due to the merits of large force, high efficiency, and easy of position control, the applications of linear permanent magnet synchronous motors (LPMSM) have become much more popular. The goal of this thesis is to realize a high-speed position control platform of LPMSM. In the stage of controller design, based on linear matrix inequalities, both Lyapunov theorem and fuzzy-scheduling control method are incorporated such that the nonlinear motor system can still have fast responses, even with possible change of load. In general, PC-based control systems have drawbacks in system synchronicity, analog and digital grounding drift, and complicated wiring. Thus, in this thesis, to evaluate the control performance, a DSP/FPGA based experimental platform of LPMSM is setup. Simulation and experimental results illustrate that the proposed control scheme does provide the ability of high-precision position control.