LabVIEW FPGA Programming BRUSHLESS DC MOTOR CONTROL · LabVIEW FPGA Programming BRUSHLESS DC MOTOR...

LabVIEW FPGA Programming

BRUSHLESS DC MOTOR CONTROLEdin OmerdicSenior Research FellowMobile & Marine Robotics Research CentreUniversity of Limerick

Mobile & Marine Robotics Research Centre

University of Limerick

Outline

Brushless DC Motor ControlIntroduction

myRIO

T200 Thruster

Motor Control with PWM SignalIntroduction

Solution 1: PWM Signal Generation with Express VI

Solution 2: PWM Signal Generation with FPGA

Next Steps



GNC Signal Flow

GNC Signal Flow

Weather routing

program

Trajectory

Generator

Motion Control

System

Control

Allocation

Fusion Marine Craft INS (GNSS + AHRS)

OA Sensors

(Radar, Cameras, etc.)

Observer

Weather

data

Waypoints

Guidance

System

Control

System

Obstacle

Avoidance

Module

Estimated

positions and

velocities Navigation

System

Waves, wind

and ocean

currents



Brushless DC Motor ControlIntroductionmyRIO

myRIO

• 40 DIO

• 6 AO

• 10 AI

• 2 UART

•Audio In

•Audio Out

•Accelerometer

Features:




Real-Time & FPGA cRIO Architecture




Connectivity

•USB

•WiFi 802.11b,g,n

• (Optional) USB 2.0 – Gigabit Network Adapter Sabrent USB-G1000




What is inside FPGA?



Brushless DC Motor ControlIntroductionT200 Thruster

T200 Thruster

•Operating Voltage: 6-20V

•Max Current: 25A

•Max Power: 350W

•Max Forward Thrust (16V) 5.1kgf

•Max ReverseThrust (16V) 4.1kgf

•Max Forward Thrust (12V) 3.5kgf

•Max ReverseThrust (12V) 3.0kgf

https://www.bluerobotics.com/store/thrusters/t200-thruster/



Brushless DC Motor ControlIntroductionT200 Thruster

ESC (AfroESC 30A)

Motor Control with PWM Signal



Brushless DC Motor ControlMotor Control with PWM SignalIntroduction

• Signal Voltage: 3.3-5V

•Max Update Rate: 400Hz

• Stopped: 1500ms

•Max Forward: 1900ms

•Max Reverse: 1100ms

PWM Signal:

TPWM = 1/400Hz = 2500ms

Stopped

TS = 1500ms

TPWM = 1/400Hz = 2500ms

Max Forward

TS = 1900ms

TPWM = 1/400Hz = 2500ms

Max Reverse

TS = 1100ms




myRIO




myRIO-Oscilloscope Connection Diagram

Connector A: DIO8/PWM0

Connector A: GND



Brushless DC Motor ControlMotor Control with PWM SignalSolution 1: PWM Signal Generation with Express VI

Motor Control with PWM Signal


TPWM = 1/PWM Frequency (Hz)

Duty Cycle = Ts/TPWM

TPWM = 1/400 (Hz) = 2.5 (ms)

Ts(ms)




TPWM = 2.5 (ms)

Stopped

TS = 1.5 (ms)

TPWM = 2.5 (ms)

Max Forward

TS = 1.9 (ms)

TPWM = 2.5 (ms)

Max Reverse

TS = 1.1 (ms)

Duty Cycle = 0.60

Duty Cycle = 0.76

Duty Cycle = 0.44

Stopped Max Forward

Max Reverse

+1000-100

nd (%)

Duty Cycle

0.44

0.60

0.76




Stopped Max Forward

Max Reverse

+1000-100

nd (%)

Duty Cycle

0.44

0.60

0.76

11

12

12

12

12

1

1 yxxxx

yyy

xx

yy

xx

yy

x2x1

x

x

y1

y2

y

y

Note: Motor friction (Dead Zone problem) neglected!




Taking into account motor friction (Dead Zone)!

nd > 0

nd < 0

nd = 0

Duty Cycle

Stopped Max Forward

Max Reverse

+1000-100

nd (%)

0.44

0.60

0.76

0.62

0.58

A+

B+

A-B-




myRIO – T200 Thruster Interconnection Diagram




FPGA Clock Frequency: fFPGA = 40MHz

FPGA Tick Period: TFPGA = 1/40MHz = 25ns

TPWM = 1/400 (Hz) = 2.5 (ms)

CPWM (ticks) = TPWM / TFPGA = 100000 (ticks)

(Ts/TPWM) * CPWM (ticks)

TPWM = 2.5 (ms)

Ts(ms)

CPWM = 100000 (ticks)

TPWM = 2.5 (ms)

Stopped

TS = 1.5 (ms)

TPWM = 2.5 (ms)

Max Forward

TS = 1.9 (ms)

TPWM = 2.5 (ms)

Max Reverse

TS = 1.1 (ms)

CS = 60000 (ticks)

CS = 76000 (ticks)

CPWM = 100000 (ticks)

CS = 44000 (ticks)

Brushless DC Motor ControlMotor Control with PWM SignalSolution 2: PWM Signal Generation with FPGA



Brushless DC Motor ControlMotor Control with PWM SignalSolution 2: PWM Signal Generation with FPGA



Brushless DC Motor ControlNext Steps

http://www.ni.com/compactrio/

http://www.ni.com/myrio/

https://www.ni.com/compactriodevguide/

http://www.ni.com/compactrio/

http://www.ni.com/myrio/

https://www.ni.com/compactriodevguide/

LabVIEW FPGA Programming BRUSHLESS DC MOTOR CONTROL · LabVIEW FPGA Programming BRUSHLESS DC MOTOR...

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