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.

University of Maribor Faculty of Electrical Engineering and Computer Science Institute of Robotics Smetanova ulica 17, Maribor tel.: +386 2 220-7300 fax: +386 2 220-7315 e-mail: karel.jezernik@uni-mb.si url: www.ro.feri.uni-mb.si

UNIVERSITY OF MARIBOR

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 active brake, which besides the static emulation also makes possible the dynamic emulation of mechanical loads.

Institute of Robotics

System for rapid control algorithm development

Faculty of Electrical Engineering and Computer Science

Matlab / Simulink

Simulator

*.c
011010... Compiler

Ua=11 Kp=0,2

DSP Terminal

PC - reference setting, data acquisition and software development

DC link Controller - IM (dSPACE)

Inverter - IM

Motor drive (IM)

International references
Links on our Institute:
Te Tl

DSP DSP2 board Real object

current measurement

wr

TSM / wSM Tout

Controller / Inverter - BLDCM DC link

Active load (BLDCM)

8 Nasa Space Telerobotics Program, 8 Robotics Internet Resources Page of University of Massachusetts, 8 Control Engineering Virtual Library.
designed by Dejan Kos

e-mail: karel.jezernik@uni-mb.si tel.: 02/ 220-7300 fax: 02/ 220-7315

We use equipment of:

www.ro.feri.uni-mb.si

About Institute
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, servo drives, 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 can be programmed with C language or with the use of Matlab/Simulink.

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 electrical drives in the educational process.

www.hipulab.uni-mb.si

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

Matlab/Simulink is a powerful simulation program that is widely used in the research area of dynamic systems. RealTime 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 Matlab / Simulink / RTW DSP Terminal. In addition, all or only selected Simulink block parameters are tunable in online mode.
C code

Sensorless AC motor control

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.

Our work and products...

Code Composer

DSP2 board
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.

Binary code

Program download on DSP2 board

RS-232
Online signal monitoring and parameter tuning