The design of an FPGA-based sinusoidal pulse width modulation generator

The output of a DC to AC converter circuit is not a pure sine wave. To overcome this problem, a technique called sinusoidal pulse width modulation (SPWM) is used. Generation of SPWM requires a carrier wave and a reference wave. The reference wave is typically a sine wave. Many algorithms have been proposed in the past to optimize the generation of the sine wave but the most suitable scheme uses a lookup table (LUT). In this project the SPWM is implemented using a field programmable gate array (FPGA) where discrete sine values are stored as lookup table in the FPGA. The challenge here is developing an algorithm to minimize the size of the LUT specifically and the FPGA, as a whole. Three SPWM designs are proposed in the project using the VHDL hardware descriptive language. Simulations are done using Mentor Graphic’s ModelSim SE 6.4 and the synthesis tool is Altera’s Quartus II Web Edition version 9.1. The proposed designs use two approaches, namely, the symmetrical properties of the sine wave to reduce the LUT size and also improvements in the programming codes to reduce the use of logic elements. Each of the proposed synthesized designs uses less than 40% of logic elements compared to the designs from previous works

Development of fast multi-system simulation models for permanent magnet synchronous motor and generator drive systems

This research project investigates the development and validation of alternative simulation models for voltage source inverter fed permanent magnet synchronous machine drive systems which can rapidly and accurately analyse and evaluate the performance of PM machine drives and associated control system designs. Traditionally simulations have been conducted using switching models and state space average value methods. The simulation of switching models is time consuming and that of state space averaging involves complex mathematical transformation to d-q axis, with additional circuitry and this limits their application in a time critical design process. Even if the complex calculations of state space are overcome, the proposed model can still achieve better results. This thesis presents the development of fast multi system simulation models for permanent magnet synchronous motor and generator drive systems. The fast simulation model: Average Voltage Estimation Model (AVEM) was developed for two-level, three phase VSI-fed PMSM drive systems and two-level three phase full-scale back-back VSI incorporated in a PMSG wind energy conversion system. The method uses the principle of control strategy and switching function to derive the average phase voltage in one switching period and then uses the average voltages to drive piecewise-linear voltage sources across the terminals of the permanent magnet synchronous machine and three phase system. A voltage source inverter loss model was also developed and incorporated into the AVEM to simulate the drive system power flow and its performance evaluated. The average voltage estimation model is also used to estimate and simulate the energy output of the variable speed PMSG wind energy conversion system. Practical implementation of this technique is achieved using a DSP based controller and validation made through comparison of the DSP AVEM energy estimation method with calculated energy. The study also presents the development of detailed VSI switching models for a variable speed PMSM and a PMSG wind energy conversion system which serve as benchmarks for the proposed AVEM models. A detailed description of both models will be presented. Since models require a control strategy: these control strategies were also developed using the carrier-based sinusoidal (SPWM) and implemented with PI regulators. In the permanent magnet synchronous generator wind energy conversion system application, the SPWM is applied to control the speed of the generator side converter to track maximum power as wind speed varies using the developed passive MPPT control technique and controls the AC load side converter to maintained constant DC link voltage. The sinusoidal PWM control provides a simplified control suitable for the variable speed PMSM drive system and the PMSG wind energy conversion system. Lastly, this thesis presents a detailed development of an experimental test rig. The test rig is developed to provide flexibility for the validation and comparison of the results of both simulation models against real practical implementations for PMSM drive system and PMSG wind energy conversions system. Several simulation case studies were performed using the PORTUNUS simulation package to validate and analyse the steady state accuracy of the proposed average voltage estimation model and control system against the switching model. Experiments were also carried out to validate the results of the simulation models. The simulation models results are presented and compared with experimental results. Suitable steady state performance analysis of two-level, three phase voltage source inverter fed permanent magnet synchronous motor and two-level three phase full scale back-back voltage source inverter with permanent magnet synchronous generator drive simulation and experimental performance are also carried out. The results show good agreement of the proposed average voltage estimation model with the switching model and experimental data, and where necessary the reasons for differences are discussed. The simulation of the AVEM is approximately 50 times faster than the switching model. The limitation of the proposed model is also discussed; mainly it cannot be used for the study and analysis of the internal dynamics of the voltage source inverter. The results from the proposed modelling method utilising the average voltage estimation confirm that this method can be used as an alternative to the detailed switching model for fast simulation and steady state analysis of PM machine drive systems given the advantages of speed, simplicity and ease of implementation. Note that the proposed model is only used for steady state performance analysis; however, in future its application can be extended to transient analysis. In addition, the model is not about maximium power point tracking techniques but it can accommodate maximium power point tracking techniques. It should also be highlighted that exactly the same digital control block is used in both the switching and AVEM models thus allowing a true comparison of controller behaviour. The model developed in this research project has application beyond PMSM drive system and PMSG wind energy conversion system. It can be applied to modelling, simulation and control of other electrical machine drives such as induction machines, switched reluctance machines and three-phase VSI-fed systems

A feasibility study in the development of an off-line PLC based robot control system

A project report submitted to the Faculty of Engineering, in partial fulfilment of the requirements for the degree of Master of Science in Engineering, University of the Witwatersrand. Johannesburg 1990.Robotics are becoming a more prominent force in the industrial environment, and research is being concentrated on control rather than on the robot. The feasibility of a substitute, off-line, plc based control system was investigated. Many advantages are associated with an off-line system, as well as the large financial saving (at the most 50% that of the existing controller) . A PLC with discrete 1/0 modules and a fast counting module were used. Open loop control was looked at, with optical encoders used for position control. Overshoot of the DC motors consistently occurred, and other external factors ensured the unpredictability and instability of open loop control. It was concluded that closed loop control was necessary to ensure accurate positioning and speed control. PLC modules Were investigated, and an axis control system (not yet commercially available) was found to ideally suit the purpose of servo/encoder control. This system makes use of speed and position feedback signals, essential for accurate terminal Control of the robot.MT201