EPE Association: EPE 1989 - 30 - Dialogue Session 1.3: LOW POWER DRIVES

EPE 1989 - 30 - Dialogue Session 1.3: LOW POWER DRIVES
You are here: EPE Documents > 01 - EPE & EPE ECCE Conference Proceedings > EPE 1989 - Conference > EPE 1989 - 30 - Dialogue Session 1.3: LOW POWER DRIVES

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   INNOVATIVE SINGLE-AXIS DIGITAL-CONTROL SERVO SYSTEMS FOR BRUSH AND BRUSHLESS DC PERMANENT MAGNET MOTORS
By C. K. Patni; A. Dargle [View]
[Download]

Abstract: This paper presents single-axis digital-control servo systems for brush and brushless DC permanent magnet motors rated between 0.5 and 5kW and supplied from the 220 / 240Vac mains. The dedicated digital controller hardware and sample-data based position control software are outlined. The developed servo systems utilize a novel delta modulation based velocity servo controller. The power stage is composed of novel MOSFET bridge-leg modules switching at ultra-sonic frequencies. These custom-power-hybrid (CPH) modules are cost-effective and compact. The gate drive, isolation and protection circuitry for each MOSFET switch as well as the free-wheeling diodes are incorporated within the CPH module.

   IMPROVED HYSTERESIS CONTROLLED INVERTER FOR A THREE PHASE BRUSHLESS SERVO MOTOR
By J. A Dente; J. Esteves [View]
[Download]

Abstract: The sliding mode control is an effective mean to keep a system insensitive to parametric variations and disturbances. This paper presents a sliding mode control application to the current control of a three phase brushless servo motor. A simple and improved hysteresis current controlled inverter that needs only two phase current measures is presented. Theoretical and experimental results are reported. When id = 0 the proposed method is easy to implement involving simplified hardware and making easier the electronic integration. Besides it has no serious restriction on commutation frequency and modulation vanishing phenomenon do not appears.

   LINEAR QUADRATIC CONTROL OF A DC MOTOR
By M. Ghribi; Y. Dubé; K. AI-Haddad [View]
[Download]

Abstract: Numerical control of a D.C. motor is achieved by minimizing a quadratic criterion. This criterion is minimized subject to the state-space model constraint and includes the square of the control variables, the square of the deviation of the controlled variables around the set points and the square of the integral of the deviation. The state-space equations contain a linearization of the motor's equations and of the converter. The control law calculated using the dynamic programming is computed off-line and implanted on an IBM-PC/AT micro-computer. The efficiency of the control law is measured when varying the load to the motor. A comparative study between this control strategy and the commonly used closed-loop pole assignment is done. Experimental results are presented to compare the two control designs.

   SLIDING MODE CONTROL OF A DC SERVOMOTOR USING A MICROPROCESSOR - CHATTERING ELIMINATION
By P. Sicard; K. AI-Haddad; V. Rajagopalan [View]
[Download]

Abstract: Sliding mode control laws for dc servomotor position control are presented. The problem of chattering elimination is the major concern of this paper. Simulation results for a microprocessor implementation obtained with a custom program are presented and analysed for the following algorithms: i) discontinuous command, ii) continuous command with constant width boundary layer, iii) continuous command with variable width boundary layer, iv) continuons command with variable width boundary layer with constant value near the null space. It is shown that this last algorithm yields an effective chattering elimination scheme in both dynamic and steady-state.

   A NEW DIGITAL CONTROLLER DEVICE FOR STEPPING-MOTORS
By T. Creuzet; M. Abignoli; C. lung [View]
[Download]

Abstract: The pulse train control of a stepping motor suffers from the classical problems of the open loop control: loss of synchronism, mid-frequency resonance,... In order to remedy to these phenomenons, a position encoder, reflecting the rotor symetry, has been integrated in the actuator. The encoder delivered signals are analogic ones. The displacement's manager is realized with a microcontroller, newly came on the market. lts integrated peripherals are adapted to analogic and digital treatment, wich allows closed loop control. The microprogrammed device permits to realize an effective drive of the motor, in real time, acting on the lead angle (instead of the delays between successive commutations). Compared to the frequency control, we can notice that the motor stays stable for every speed and doesn't loose synchronism in front of load variation or fast reference changes. The integrated encoder-motor-digital controller set constitutes a totaly new stepping motor controller device.

   STRUCTURE OF A TORQUE CONTROL MODULE FOR DC MOTORS
By Caroline Chiappa; Jean-Claude Hapiot; Marcel Grandpierre [View]
[Download]

Abstract: In this paper we present the study concerning the realisation of an autonomous mobile platform. The motricity of this platform is ensured by means of two chopper-fed four-quadrant DC motors, operating in variable frequency and variable duty-cycle conditions. Each motor is torque controlled through the control of the armature current. The originality of this work resides in the conception of the hardware structure which has been designed for the converter control. Different specialised interfaces, entirely programmable, have been developed such as Electrical Machine Command Automata (EMCA), intelligent sensors, etc. Their modular structure provides operation flexibility, allowing their connection to different types of microprocessors and ensures the chopper control in its different operating modes.

   VECTOR CONTROL OF PM-HYBRID STEPPING MOTORS
By A. Kelemen; V. Trifa; Maria lmecs [View]
[Download]

Abstract: The paper proposes the change of strategy of controlling the stepping motors using the field-oriented control, by taking over control principles from a.c. motors. In this purpose the identification of a representative PM-hybrid stepping motor is first made, taking into account an equivalent system of magnetic axes, which replaces classical identification in the geometrical system of axes and leads to the definition of the space-phasor. Then system- and axis-transformations for a four-phase system of magnitudes are presented and the resulting rotor-oriented model is deduced. On this base field-oriented control of PM-hybrid stepping motor is described and a particular illustrative self-commutating stepping motor control system is proposed.

   REGENERATIVE BRAKING CONTROL OF A CHOPPER-FED DC SERIES MOTOR
By J. Bou Saada; J. M. Bodson [View]
[Download]

Abstract: The current control of a DC series machine fed by a single chopper in regenerative braking mode is basically unstable as shown by a stability analysis. In this paper, we suggest a novel control loop permitting an improvement of the general behaviour and a significant reduction of the iron losses introduced up to now because of the usual controllers. The algorithm has been implemented on a double Europa Board, based on a microprocessor 80186.

EPE 1989 - 30 - Dialogue Session 1.3: LOW POWER DRIVES
You are here: EPE Documents > 01 - EPE & EPE ECCE Conference Proceedings > EPE 1989 - Conference > EPE 1989 - 30 - Dialogue Session 1.3: LOW POWER DRIVES
	[return to parent folder]

	INNOVATIVE SINGLE-AXIS DIGITAL-CONTROL SERVO SYSTEMS FOR BRUSH AND BRUSHLESS DC PERMANENT MAGNET MOTORS By C. K. Patni; A. Dargle	[View] [Download]
Abstract: This paper presents single-axis digital-control servo systems for brush and brushless DC permanent magnet motors rated between 0.5 and 5kW and supplied from the 220 / 240Vac mains. The dedicated digital controller hardware and sample-data based position control software are outlined. The developed servo systems utilize a novel delta modulation based velocity servo controller. The power stage is composed of novel MOSFET bridge-leg modules switching at ultra-sonic frequencies. These custom-power-hybrid (CPH) modules are cost-effective and compact. The gate drive, isolation and protection circuitry for each MOSFET switch as well as the free-wheeling diodes are incorporated within the CPH module.

	IMPROVED HYSTERESIS CONTROLLED INVERTER FOR A THREE PHASE BRUSHLESS SERVO MOTOR By J. A Dente; J. Esteves	[View] [Download]
Abstract: The sliding mode control is an effective mean to keep a system insensitive to parametric variations and disturbances. This paper presents a sliding mode control application to the current control of a three phase brushless servo motor. A simple and improved hysteresis current controlled inverter that needs only two phase current measures is presented. Theoretical and experimental results are reported. When id = 0 the proposed method is easy to implement involving simplified hardware and making easier the electronic integration. Besides it has no serious restriction on commutation frequency and modulation vanishing phenomenon do not appears.

	LINEAR QUADRATIC CONTROL OF A DC MOTOR By M. Ghribi; Y. Dubé; K. AI-Haddad	[View] [Download]
Abstract: Numerical control of a D.C. motor is achieved by minimizing a quadratic criterion. This criterion is minimized subject to the state-space model constraint and includes the square of the control variables, the square of the deviation of the controlled variables around the set points and the square of the integral of the deviation. The state-space equations contain a linearization of the motor's equations and of the converter. The control law calculated using the dynamic programming is computed off-line and implanted on an IBM-PC/AT micro-computer. The efficiency of the control law is measured when varying the load to the motor. A comparative study between this control strategy and the commonly used closed-loop pole assignment is done. Experimental results are presented to compare the two control designs.

	SLIDING MODE CONTROL OF A DC SERVOMOTOR USING A MICROPROCESSOR - CHATTERING ELIMINATION By P. Sicard; K. AI-Haddad; V. Rajagopalan	[View] [Download]
Abstract: Sliding mode control laws for dc servomotor position control are presented. The problem of chattering elimination is the major concern of this paper. Simulation results for a microprocessor implementation obtained with a custom program are presented and analysed for the following algorithms: i) discontinuous command, ii) continuous command with constant width boundary layer, iii) continuous command with variable width boundary layer, iv) continuons command with variable width boundary layer with constant value near the null space. It is shown that this last algorithm yields an effective chattering elimination scheme in both dynamic and steady-state.

	A NEW DIGITAL CONTROLLER DEVICE FOR STEPPING-MOTORS By T. Creuzet; M. Abignoli; C. lung	[View] [Download]
Abstract: The pulse train control of a stepping motor suffers from the classical problems of the open loop control: loss of synchronism, mid-frequency resonance,... In order to remedy to these phenomenons, a position encoder, reflecting the rotor symetry, has been integrated in the actuator. The encoder delivered signals are analogic ones. The displacement's manager is realized with a microcontroller, newly came on the market. lts integrated peripherals are adapted to analogic and digital treatment, wich allows closed loop control. The microprogrammed device permits to realize an effective drive of the motor, in real time, acting on the lead angle (instead of the delays between successive commutations). Compared to the frequency control, we can notice that the motor stays stable for every speed and doesn't loose synchronism in front of load variation or fast reference changes. The integrated encoder-motor-digital controller set constitutes a totaly new stepping motor controller device.

	STRUCTURE OF A TORQUE CONTROL MODULE FOR DC MOTORS By Caroline Chiappa; Jean-Claude Hapiot; Marcel Grandpierre	[View] [Download]
Abstract: In this paper we present the study concerning the realisation of an autonomous mobile platform. The motricity of this platform is ensured by means of two chopper-fed four-quadrant DC motors, operating in variable frequency and variable duty-cycle conditions. Each motor is torque controlled through the control of the armature current. The originality of this work resides in the conception of the hardware structure which has been designed for the converter control. Different specialised interfaces, entirely programmable, have been developed such as Electrical Machine Command Automata (EMCA), intelligent sensors, etc. Their modular structure provides operation flexibility, allowing their connection to different types of microprocessors and ensures the chopper control in its different operating modes.

	VECTOR CONTROL OF PM-HYBRID STEPPING MOTORS By A. Kelemen; V. Trifa; Maria lmecs	[View] [Download]
Abstract: The paper proposes the change of strategy of controlling the stepping motors using the field-oriented control, by taking over control principles from a.c. motors. In this purpose the identification of a representative PM-hybrid stepping motor is first made, taking into account an equivalent system of magnetic axes, which replaces classical identification in the geometrical system of axes and leads to the definition of the space-phasor. Then system- and axis-transformations for a four-phase system of magnitudes are presented and the resulting rotor-oriented model is deduced. On this base field-oriented control of PM-hybrid stepping motor is described and a particular illustrative self-commutating stepping motor control system is proposed.

	REGENERATIVE BRAKING CONTROL OF A CHOPPER-FED DC SERIES MOTOR By J. Bou Saada; J. M. Bodson	[View] [Download]
Abstract: The current control of a DC series machine fed by a single chopper in regenerative braking mode is basically unstable as shown by a stability analysis. In this paper, we suggest a novel control loop permitting an improvement of the general behaviour and a significant reduction of the iron losses introduced up to now because of the usual controllers. The algorithm has been implemented on a double Europa Board, based on a microprocessor 80186.