Finite Control Set Model Predictive Speed Control of a DC Motor

The paper describes the design procedure for a finite control set model predictive control (FCS-MPC) of brushed permanent magnet DC (PMDC) machine supplied from DC-DC converter. Full order linear Kalman filter is used for estimation of an unmeasured load torque and reduction of speed measurement noise. A new cost function has been introduced with a feedforward dynamic current component and a feedforward static load current component. The performance of the proposed control strategy is compared to the conventional PI-PWM cascade speed control through the experimental verification on the 250 W laboratory prototype. Obtained results show excellent dynamic behaviour and indicate possible energy savings of the proposed speed control

Automatic Code Generation from MATLAB/Simulink Environment and Comparison of Selected Resources for its Implementation

The article describes essential possibilities and resources that are available for technology of automatic code generation from MATLAB/Simulink software. It contains a description of rapid control prototyping and hardware-in-the-loop technologies and their context with automatic code generation. Two different approaches of automatic code generation are briefly compared in this article together with their advantages and drawbacks towards standard programming approach. The use of automatic code generation is illustrated at the end by two different applications. Článok opisuje základné možnosti a prostriedky, ktoré sú k dispozícii pre technológiu automatického generovania kódu z prostredia MATLAB/Simulink. Opísané sú technológie rapid control prototyping a hardware-in-the-loop simulácie a ich súvislosť s automatickým generovaním kódu. V článku sú stručne porovnané dva rôzne prístupy k automatickému generovaniu kódu a uvedené ich výhody a nevýhody v porovnaní s klasickým programovaním. Použitie automatického generovania kódu je na záver ilustrované pomocou dvoch konkrétnych aplikácií

Emulation of Mechanical Loads in Electric Drives – An Overview of Methods

The aim of the presented paper is to introduce the reader to hardware-in-the-loop (HIL) simulation in electric drives, the motivation for its usage and its benefits. Basic information about HIL simulation in general and the connection to electric drives is followed by an explanation of the main principle of the dynamic emulation of mechanical loads for electric drives, which is a special case of HIL simulation. Next, the description of the three main methods of load emulation and their mathematical background are presented in the order of historical appearance: the emulation with compensator and tracking controller, the emulation based on non-linear control and the emulation with feed-forward compensation with the use of inverse dynamics

A Comparative Study and Optimization of Switching Functions for Sliding-Mode Observer in Sensorless Control of PMSM

The sensorless control of the permanent magnet synchronous motor (PMSM) has attracted wide attention due to its high reliability, economic and safety benefits. A fast and high-precision rotor-position estimation is inevitable for the implementation of sensorless control. Sliding-mode observer (SMO) is a preferred solution for sensorless control by many industrial companies. This article addresses the comparison of different switching functions employed in the control structure of sensorless field-oriented control with SMO. The switching functions are classified and their influence on the performance of the PMSM is verified for different shaping coefficients (SC). In addition, a statistical evaluation of the switching functions is provided to find the optimal values of SC. An experimental and statistical evaluation validated the substitutability of signum and hyperbolic switching functions and optimal values of SC have been found

Measurement and Modelling of a Cycloidal Gearbox in Actuator with Permanent Magnet Synchronous Machine

Compact geared servo drives are a common part of modern industrial automation; thus, their proper modelling is a necessary part for the application and control design. The presented paper focuses on the mathematical model of the cycloidal gearbox, which is used in the compact actuator with a permanent magnet synchronous motor. A measurement procedure to obtain the necessary gearbox parameters is presented along with its mathematical model. A new approach was used to model the stiction and nonlinear gearbox friction behaviour in all four quadrants. A simulation of the actuator with the modelled gearbox is described and its results are compared with the real system measurement. Obtained results show a high match between simulation and experimental results and confirm the correctness of the simulation model