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FPGA-based rapid control prototyping of permanent magnet synchronous motor servo drives

FPGA-based rapid control prototyping of permanent magnet synchronous motor servo drives

Due to tight time constraints and unknown disturbances, the position control problem in permanent magnet synchronous machine (PMSM) drives remains exceedingly challenging. Download this technical article to learn more about experimental validation of a cascade control structure for position control in PMSM drives.

Whitepapers

Sensor Fusion and Motion Control for Autonomous Racing Cars

Sensor Fusion and Motion Control for Autonomous Racing Cars

Learn how a research team from the Technical University of Munich uses Speedgoat real-time solutions, MATLAB® and Simulink® to develop and test an autonomous driving software stack, capable of operating a racing vehicle close to its physical limits. As an integral part of the framework, sensor fusion and motion control algorithms are optimized and validated for safe and accurate real-time operation, using Rapid Control Prototyping and Hardware-in-the-Loop simulation.

Rapid Control Prototyping

Hardware-in-the-Loop

Whitepapers

Speed Up Digital Control Development for Motors, Power Converters, and Battery Systems with Simulink

Speed Up Digital Control Development for Motors, Power Converters, and Battery Systems with Simulink

Digital control design for power electronics using Simulink® makes it easy to try new ideas, test them, and go to hardware without coding. You can use system-level models for desktop simulation, real-time simulation, and production code generation, speeding up designing and testing your power electronics control systems.

Whitepapers

10 Ways to Speed Design for Digitally Controlled Power Converters with Simulink

10 Ways to Speed Design for Digitally Controlled Power Converters with Simulink

This whitepaper highlights ways to accelerate digital control development for power converters with system-level simulation, how to validate control code on the processor without damaging electrical system hardware and developing real-time simulations of your electrical system.

Hardware-in-the-Loop

Rapid Control Prototyping

Whitepapers

Topological Analog Signal Processing

Topological Analog Signal Processing

Researchers at the Swiss Federal Institute of Technology in Lausanne (EPFL) used a Speedgoat Performance real-time target machine and a high-speed analog IO131 module to validate an acoustic topological equation solver experimentally. The setup allowed them to demonstrate the robustness of analog signal processors (ASP) and is an essential step towards a new generation of ultrafast all-optical ASPs. 

Publication on nature.com

Published Papers

Rapid Control Prototyping

Motion Planning and Experimental Validation for an Autonomous Bicycle

Motion Planning and Experimental Validation for an Autonomous Bicycle

This paper introduces a prototype autonomous two-wheeled vehicle developed for experimental verification of motion planning and control algorithms. Finally, it presents and discusses experiments run on the actual vehicle for a particular maneuver. It emphasizes the differences between the trajectories created by different vehicle models.

Publication on ieeexplore.ieee.org

Published Papers

Rapid Control Prototyping

Drag Reduction in Turbulent Boundary Layer via Real-Time Control

Drag Reduction in Turbulent Boundary Layer via Real-Time Control

This paper demonstrates an approach to real-time control of large-scale structures. Real-time controls reduce the streamwise turbulence intensity as well as skin-friction drag.

Publication on sciencedirect.com

Published Papers

Rapid Control Prototyping

Robotic Glove with Integrated Sensing for Intuitive Grasping Assistance

Robotic Glove with Integrated Sensing for Intuitive Grasping Assistance

This paper presents a fully integrated soft robotic glove with multi-articular textile actuators, custom soft sensors, and an intuitive detection controller. The state-machine-based controller uses signals from integrated sensors to detect relative changes in hand-object interactions.

Publication on ieeexplore.ieee.org

Published Papers

Rapid Control Prototyping

Robust Switching Control Method to Achieve Tokamak-Shaped Plasma

Robust Switching Control Method to Achieve Tokamak-Shaped Plasma

A robust switching control method with state vector matching and a novel approach for the feedback system simulation are presented in this paper. First, the plant model reconstructs plasma equilibria from experimental data and calculates plasma shape changes. Then, the control system is discretized and run on a high-speed computer for experiments on a real-time testbed.

Publication on sciencedirect.com

Published Papers

Rapid Control Prototyping

An Open Development Platform for Auditory Real-Time Signal Processing

An Open Development Platform for Auditory Real-Time Signal Processing

This paper presents an auditory real-time processing algorithm platform ("Open Development Platform", ODP) that simplifies developing novel real-time algorithms. ODP leverages MATLAB / Simulink and runs on Speedgoat real-time target machines. The authors show how they developed a fully functional hearing aid for research purposes using ODP.

Publication on sciencedirect.com

Published Papers

An Ankle-Foot Prosthesis Emulator Capable of Modulating Center of Pressure

An Ankle-Foot Prosthesis Emulator Capable of Modulating Center of Pressure

The authors of this paper developed an ankle-foot prosthesis emulator to restore human feet' balancing and push-off characteristics. The proposed emulator system consists of two torque-controlled forefoot digits and a torque-controlled heel digit which meets all design criteria to modulate the center of pressure and ground reaction force effectively.

Publication on ieeexplore.ieee.org

Published Papers

Design and Experimental Characterization of a Hydrostatic Transmission for Upper Limb Exoskeletons

Design and Experimental Characterization of a Hydrostatic Transmission for Upper Limb Exoskeletons

The authors introduce a design of a novel hydrostatic air-liquid torque transmission system for an upper limb exoskeleton. Transmission of fluid on rolling membrane cylinders guarantees leakage-free operation, no backlash, and zero stick friction. By employing a new test bench of the fluid transmission system developed, they conducted experiments to characterize the static and dynamic response for different design parameters.

Publication on ieeexplore.ieee.org

Published Papers

A Balanced Hybrid Active-Passive Actuation Approach for High-Performance Haptics

A Balanced Hybrid Active-Passive Actuation Approach for High-Performance Haptics

This paper describes the design of a high-performance balanced hybrid haptic device. The actuation, design, and control approaches are described and experimentally validated. The results show significant improvements in the stability and rendering range of the device. 

Publication on ieeexplore.ieee.org

Published Papers

Rapid Control Prototyping

A Lightweight Force-Controllable Wearable Arm Based on Magnetorheological-Hydrostatic Actuators

A Lightweight Force-Controllable Wearable Arm Based on Magnetorheological-Hydrostatic Actuators

This paper studies the feasibility of using magnetorheological (MR) clutches coupled to a low-friction hydrostatic transmission.  This combination provides a highly effective yet lightweight, force-controllable supernumerary robotic arm (SRL). Experimental studies conducted on a one-DOF test bench and validated analytically demonstrate a high force bandwidth (>25 Hz) and an excellent ability to control interaction forces even when interacting with an external impedance.

Publication on ieeexplore.ieee.org

Published Papers

Rapid Control Prototyping

Mechatronic Architecture Development of UX-1

Mechatronic Architecture Development of UX-1

This paper presents a novel design of an underwater robot for exploring abandoned mines. Rapid prototyping of controllers during the development phase of the robot is described, and the mechatronic development of the main controller unit, propulsion system, and ballast is investigated. The robot's mechatronic architecture and the low-level control algorithms demonstrate its potential for performing real-time operations.

Publication on ieeexplore.ieee.org

Published Papers

Rapid Control Prototyping

A Software Architecture for an Autonomous Racecar

A Software Architecture for an Autonomous Racecar

The authors present a detailed description of the software architecture used in the autonomous Roborace vehicles by the TUM-Team. The architecture combines the autonomous software functions perception, planning, and control, which are modularized for use on different hardware and to drive the car on high-speed racetracks. 

Publication on ieeexplore.ieee.org

Published Papers

Sound-Quality Evaluation of Adaptive Feedback Cancellation Algorithms

Sound-Quality Evaluation of Adaptive Feedback Cancellation Algorithms

This paper presents a subjective and objective perceptual sound-quality evaluation of different algorithms for adaptive feedback cancellation (AFC) with both speech and music signals. Three different algorithms are compared. The subjective evaluation results are then compared with the results obtained by several objective measurements.

Publication on ieeexplore.ieee.org

Published Papers

Real-Time Learning of Efficient Lift Generation on a Dynamically Scaled Flapping Wing

Real-Time Learning of Efficient Lift Generation on a Dynamically Scaled Flapping Wing

This work presents a successful application of a policy search algorithm to a real-time robotic learning problem, where the goal is to maximize the efficiency of lift generation on a dynamically scaled flapping robotic wing. Learning is performed for different prescribed stroke amplitudes to find the optimal wing pitching amplitude and the stroke-pitch phase difference that maximize lift generation's power loading (PL), a measure of aerodynamic efficiency.

Publication on ieeexplore.ieee.org

Published Papers

Control for a Supercapacitor Hybrid Energy Storage System Used in Electric Vehicles

Control for a Supercapacitor Hybrid Energy Storage System Used in Electric Vehicles

This paper proposes the control strategy of a fully active hybrid energy storage system, which uses two bi-directional DC/DC converters to decouple supercapacitors and the battery pack from the DC bus. A Lyapunov-function-based controller regulates DC bus voltage, and a sliding mode controller, controlling the battery and supercapacitor currents, is designed. Their performance is validated by simulation and experimental data. 

Publication on sciencedirect.com

Published Papers

Fault Diagnosis of Star-Connected Auto-Transformer-Based 24-Pulse Rectifier

Fault Diagnosis of Star-Connected Auto-Transformer-Based 24-Pulse Rectifier

The authors propose a fault diagnosis method for star-connected auto-transformer-based 24-pulse rectifier unit (ATRU) by integrating artificial neural networks (ANN) with wavelet packet decomposition (WPD) and principal component analysis (PCA). First, the fault features are extracted and simulated in a real-time simulation platform. The obtained data is then analyzed with MATLAB toolboxes and verified with a digital signal processor.

Publication on sciencedirect.com

Published Papers

Validation of a Servo-Hydraulic Model Coupled with a Nonlinear System

Validation of a Servo-Hydraulic Model Coupled with a Nonlinear System

In the study, a controllable canonical physics-based model of a servo-hydraulic actuator coupled with a nonlinear physical system form is validated for position tracking control purposes. This is done by designing and fabricating a nonlinear device to exhibit various nonlinear force-displacement profiles depending on the initial condition and the type of materials used as replaceable coupons.

Publication on sciencedirect.com

Published Papers

Exploration of Real-Time Model Predictive Control in All-Electric Ship Propulsion Systems

Exploration of Real-Time Model Predictive Control in All-Electric Ship Propulsion Systems

Shipboard load fluctuations, such as propulsion-load fluctuations and pulse power loads, can significantly affect power system reliability. This paper explores the implementation and evaluation of a real-time model predictive control-based energy management strategy for load fluctuation mitigation in an all-electric ship. The real-time implementation includes a specially tailored problem formulation, an efficient optimization algorithm, and a multi-core hardware implementation

Publication on sciencedirect.com

Published Papers

Experimental Validation of Model Predictive Control Applied to the Azura Wave Energy Converter

Experimental Validation of Model Predictive Control Applied to the Azura Wave Energy Converter

Ocean wave energy is a promising area of renewable energy development. However, there are unique operational challenges, particularly modeling, estimation, and control. This article presents a model-predictive control (MPC) formulation and its experimental testing applied to the 1/15th scale Azura wave energy converter developed by Northwest Energy Innovations (NWEI).

Publication on ieeexplore.ieee.org

Published Papers

Wave Tank and Bench-Top Control Testing of a Wave Energy Converter

Wave Tank and Bench-Top Control Testing of a Wave Energy Converter

This paper details the design and execution of an experiment for evaluating the capability of model-scale wave energy converters to execute basic real-time realizations of prospective control algorithms. Model-scale hardware, system, and experimental designs are considered, meeting the dynamic requirements of a control system. A dry bench testing method is proposed and utilized for efficient rapid control prototyping.

Publication on sciencedirect.com

Published Papers

Software Simulation Tool for Design of the Energy Management System in Elevators

Software Simulation Tool for Design of the Energy Management System in Elevators

This work shows the development of a software tool that provides realistic operation power profiles in elevators for residential and public buildings applications to accelerate Energy Management System prototyping. The simulator is validated and verified through computer simulations, through a HIL (Hardware-in-the- Loop) platform and is finally validated using a full-scale laboratory prototype.

Publication on ieeexplore.ieee.org

Published Papers