processor systems, gnu/linux and control applications

IntroductionRaspberry Pi, Real-time Kernel and DC Motor

BLDC/PMSM Motor Control

Processor Systems, GNU/Linux and ControlApplications

Pavel [email protected]

CC BY-SA

Czech Technical University in PragueFaculty of Electrical Engineering

Department of Control Engineering

Motion control hardware developed and provided byPiKRON s.r.o.

ppisa,[email protected]

2016-10-09LinuxDays 2016

Pavel Pisa [email protected] CC BY-SA CPU, MCU, GNU/Linux and Control Applications

[email protected]

ppisa,[email protected]

[email protected]



Content of Presentation

1 Introduction

2 Raspberry Pi, Real-time Kernel and DC MotorFully Preemptive KernelDC Motor Control by RPiRapid Prototyping with Matlab/Simulink

3 BLDC/PMSM Motor ControlBLDC Motor BasicBLDC Motor Control Realized by RPi with SPI FPGA PeripheralOther Projects


[email protected]



Background Introduction

The motion control and precise positioning is fundamental formany of medical, laboratory and robotic instruments andcontrollers to which development I have contributed to and oftencoordinated at PiKRON company. I use GNU/Linux as my mainhost system for about 20 years. We use it as the only hostdevelopment platform at company. We use it sometimes inembedded applications in parallel to RTEMS and bare metaldevelopment.GNU/Linux is extensively used as core network infrastructure atDepartment of Control Engineering and it is the main environmentfor all seminaries and lab works in subjects which I teach. We useLinux, RTEMS and other real-time operating systems forapplications and infrastructure development done for worldwidecar-makers and industrial partners as well.


[email protected]



Previous Presentations

InstallFest 2015

Is Raspberry Pi Usable for Industrial and RoboticApplications?http://installfest.cz/if15/slides/pisa_rpi.pdf

LinuxDays 2015

Linux, RPi and other HW for DC andBrushless/PMSM Motor Controlhttps://www.linuxdays.cz/2015/video/Pavel_

Pisa-Rizeni_stejnosmernych_motoru.pdf


http://installfest.cz/if15/

http://installfest.cz/if15/slides/pisa_rpi.pdf

https://www.linuxdays.cz/2015/program/

https://www.linuxdays.cz/2015/video/Pavel_Pisa-Rizeni_stejnosmernych_motoru.pdf

https://www.linuxdays.cz/2015/video/Pavel_Pisa-Rizeni_stejnosmernych_motoru.pdf

[email protected]



Related Articles

RTLWS 2014, OSADL, Sojka, M. – Pısa, P.

Usable Simulink Embedded Coder Target for Linuxhttps://rtime.felk.cvut.cz/publications/public/ert_

linux.pdf

ROOT.CZ 9. 5. 2016

GNU/Linux pro rızenı a rychlost jeho odezvyhttps://www.root.cz/clanky/

gnu-linux-pro-rizeni-a-rychlost-jeho-odezvy/

ROOT.CZ 3. 10. 2016

Linux pro rızenı: minimalisticke resenı rızenıstejnosmerneho motoruhttps://www.root.cz/clanky/

linux-pro-rizeni-minimalisticke-reseni-rizeni-stejnosmerneho-motoru/


https://rtime.felk.cvut.cz/publications/public/ert_linux.pdf

https://rtime.felk.cvut.cz/publications/public/ert_linux.pdf

https://www.root.cz/clanky/gnu-linux-pro-rizeni-a-rychlost-jeho-odezvy/

https://www.root.cz/clanky/gnu-linux-pro-rizeni-a-rychlost-jeho-odezvy/

https://www.root.cz/clanky/linux-pro-rizeni-minimalisticke-reseni-rizeni-stejnosmerneho-motoru/

https://www.root.cz/clanky/linux-pro-rizeni-minimalisticke-reseni-rizeni-stejnosmerneho-motoru/

[email protected]



RPi and Other Experiments

Most recent theses I lead in motion control area

Radek Meciar: Motor control with Raspberry Pi board andLinux, 2014 (PDF)

Martin Meloun: FPGA Based Robotic Motion ControlSystem, 2014 (PDF)

Martin Prudek: Brushless motor control with Raspberry Piboard and Linux, 2015 (PDF)

Nepivoda Tomas: DC Motor Control Peripheral Module forZynq Platform, 2016 (PDF)


https://dspace.cvut.cz/bitstream/handle/10467/24323/F3-BP-2014-Meciar-Radek-prace.pdf

https://dspace.cvut.cz/bitstream/handle/10467/23347/F3-DP-2014-Meloun-Martin-prace.pdf

https://dspace.cvut.cz/bitstream/handle/10467/62036/F3-BP-2015-Prudek-Martin-Bp_2015_prudek_martin.pdf

https://dspace.cvut.cz/bitstream/handle/10467/64713/F3-BP-2016-Nepivoda-Tomas-BP%20-%20Periferni%20modul%20pro%20rizeni%20stejnosmernych%20motoru%20pro%20platformu%20Zynq.pdf

[email protected]



Electric Motors

main categories:

brushed DC – motor with mechanical commutatorbrushless DC motor (BLDC)/Permanent magnet synchronousmotor PMSM – comutator replaced by control electronics –needs position/sector sensor or position estimationstepper motor – synchronous motor, position usually enforcedby direct driveinduction or asynchronous motor – exact position is not strictlyrequired for control, torque is function of slip of rotor behindrotating magnetic field


[email protected]



Raspberry Pi Applications

facts

intended for educationprovides decent performance for video playbackis really cheap

the last point is important

used for many hobby projects, strong communityused even in commercial solutions due to low cost even that itis not intended for such use


[email protected]



Alternatives

Many better alternatives exists for full featured GNU/Linuxsystems for industrial applications.There are listed few ones

FreeScale i.MX53 – ARM Cortex A8, ETHERNET, CAN,USB, . . .

FreeScale i.MX6 – ARM Cortex A9

TI AM335x Sitara ARM Cortex-A8 (Beagle Bone black) –adds quadrature encoder inputs, two real time coprocessorunits (PRU)

Ti AM437x – Cortex A9 based, 2×PRU

Ti AM5728 – dual core Cortex A15, PowerVR GPU, 2×Cortex M4 cores, dual core C66x DSP, IVA (H.264), 2×PRU

If we speak about military and space then there even more durablesystems PowerPC, SPARC much broader range if Linux is notrequired/not an option. More about about alternatives later.


[email protected]



But We Focus on RPi for While

RPi is hardware bought by many students and hobbyist

quite often more powerful solution is found for initial dreammultimedia applications and boards are free for experimentsRPi can be bridge to a broad world of electronic tinkering,ideas prototyping and can open eyes people that there is muchmore to play with than virtual worlds and clouds


[email protected]



Fully Preemptive KernelDC Motor Control by RPiRapid Prototyping with Matlab/Simulink

Outline

1 Introduction


3 BLDC/PMSM Motor ControlBLDC Motor BasicBLDC Motor Control Realized by RPi with SPI FPGAPeripheralOther Projects


[email protected]




RPi 3.18.7-rt2 Latency Plot

OSADL.org – OSADL.org QA Farm Realtime – BCM2835 rack-b-slot-3cyclictest -l50000000 -m -n -a0 -t1 -p99 -i400 -h400 -q


[email protected]




RPi Latency Long Term 3D

OSADL.org – OSADL.org QA Farm Realtime – BCM2835 rack-b-slot-3Long term latency trancing for organization members available


[email protected]




Is It Enough?

The standard control application is motor servo control

Small DC and permanent magnet synchronous motorsmechanical time constant is between 3 and 10 msec (electricalone can be under 1 msec, but mechanical is prevalent forcontrol).

System, when controlled for position, is not stable (pureintegrator)⇒controller sampling period should be shorter thantime constant to achieve proper control

Maximal latencies under 200 µsec⇒RPi should be suitable forsuch control


[email protected]




Outline

1 Introduction




[email protected]




System Events Rates

The 1 kHz control loop sampling frequency can be achieved byRPi

But RPi has no hardware for position (usually quadratureincremental) sensor interfacing

Incremental encoder output changes frequency can reach MHzunits

For 500 slots wheel and 4000 RPM the required frequency isabout 150 kHz

This is too much for user-space and even proper kernel spaceprocessing on RPi but it is nice experiment for system stabilityunder load testing

Serious solution requires to extend RPi by incrementalencoder interface implemented in hardware (FPGA)


[email protected]




GPIO Only Based DC Motor Interfacing

3.3V 1

GPIO2 SDA 3

GPIO3 SCL 5

GPIO4 CLK 7

GND 9

GPIO17 11

GPIO27 13

GPIO22 15

3.3V 17

GPIO10 MOSI 19

GPIO9 MISO 21

GPIO11 SCLK 23

GND 25

2 5V

4 5V

6 GND

8 GPIO14 TX

10 GPIO15 RX

12 GPIO18 PWM

14 GND

16 GPIO23

18 GPIO24

20 GND

22 GPIO25

24 GPIO8 CE0

26 GPIO7 CE1

Raspberry Pi - P1

3.3V UART

1 GND

2 TX

3 3.3V

4 RX

CHB

CHA

IRC

HI DRV

LO DRV

IN

HI DRV

LO DRV

IN

DCMOTOR

Motor Power Supply

Czech Technical University in PragueDepartemet of Control Engineering FEERadek Mečiar and Pavel Píša 2014

RPi Motor Control Interface Prototype

As simple as possible Four NOR gates (SN74HCT02) H-bridge (L6203)


[email protected]




Wire-wrapped Prototype Design

H-bridge (L6203) is located on R35PSR course DC motor kit


https://support.dce.felk.cvut.cz/psr/

[email protected]




Software IRC Signals Processing

GPIOs

Rasp

berr

y P

i

CHB

CHA

IRC

Hard IRQ

IRQ threadedhandler

Position calculation works better if derived from the order ofIRQs than from the signal values read in the handler.FIFO run queue preserve order! (Observation from MeciarRadek Motor control with Raspberry Pi board and Linux 2014bachelor thesis)


https://support.dce.felk.cvut.cz/mediawiki/images/1/10/Bp_2014_meciar_radek.pdf

[email protected]




IRC Kernel Driver

Simple character device /dev/irc0 which counts motorposition

Order of interrupts is converted to increment andaccumulated in the kernel variable

uint32 t (4-bytes) actual value is read from the device

driver source available at GitHub repositoryhttps://github.com/ppisa/rpi-rt-control

The core is a file kernel/modules/rpi gpio irc module.c

Test from user-space

modprobe rpi_gpio_irc_module

hexdump -e ’"%d" ’ /dev/irc0


https://github.com/ppisa/rpi-rt-control

https://github.com/ppisa/rpi-rt-control/blob/master/kernel/modules/rpi_gpio_irc_module.c

[email protected]




IRC Access from C Code

int irc_dev_fd;

int irc_dev_init(void)

irc_dev_fd = open(irc_dev_name, O_RDONLY);

if (irc_dev_fd == -1)

return -1;

return 0;

int irc_dev_read(uint32_t *irc_val)

if (read(irc_dev_fd, irc_val, sizeof(uint32_t))

!= sizeof(uint32_t))

return -1;

return 0;


[email protected]




Boost IRC Kernel Threads Priority

The fully preemptive kernel runs even IRQ processing inthread context, all interrupts use priority 50 by default

modprobe rpi_gpio_irc_module

IRC_PIDS=$(ps Hxa -o command,pid | \

sed -n -e ’s/^\[irq\/[0-9]*-irc[0-9]_ir\][ \t]*$[0-

9]*$$/\1/p’)

for P in $IRC_PIDS ; do

schedtool -F -p 95 $P

done

List threads by real-time priority

ps Hxa --sort rtprio -

o pid,policy,rtprio,state,tname,time,command


[email protected]




Power Output – PWM

Only single PWM signal generator easily available onRaspberry Pi

Direction has to be controlled by GPIO pin

GPIO access possible through /sys interface

echo 22 >/sys/class/gpio/export

echo out >/sys/class/gpio/gpio22/direction

cat /sys/class/gpio/gpio22/value

echo 1 >/sys/class/gpio/gpio22/value

But access over /sys represent significant overhead

Direct access from users-pace to GPIO and PWM peripheralregisters is used instead


[email protected]




Direct GPIO and PWM Registers Access

Implemented in int

rpi_peripheral_registers_map(void) function

The physical address range can be accessed from user-spaceby mmap() syscall

mem_fd = open("/dev/mem", O_RDWR|O_SYNC)

gpio_map = mmap(NULL, BLOCK_SIZE, PROT_READ|PROT_WRITE,

MAP_SHARED, mem_fd, GPIO_BASE);

Detailed description athttp://elinux.org/RPi_Low-level_peripherals

Fast GPIO and PWM access functions for controllerapplication can be found in files rpi gpio.c and rpi bidirpwm.cfound in appl/rpi simple dc servo example ofhttps://github.com/ppisa/rpi-rt-control repository


http://elinux.org/RPi_Low-level_peripherals

https://github.com/ppisa/rpi-rt-control/blob/master/appl/rpi_simple_dc_servo/rpi_gpio.c

https://github.com/ppisa/rpi-rt-control/blob/master/appl/rpi_simple_dc_servo/rpi_bidirpwm.c

https://github.com/ppisa/rpi-rt-control

[email protected]




PID Based Motion Controller

ENI

do_inp

do_genENG

D

P

I

MDerrchk

ME

do_conERC

ENR

MD2E

mutationcom−and

PWM

do_out

+cu

rren

t li

mit

MO

SF

ET

dri

ver

MotorDC

IRCAP

AS

RP

RS

ENE

MA, MSS1, S2 PIRC, PTPER

PTOFS, PTSHIFTPTVANG, PTINDX

PTPTR1/2

EP, GEN_STGEN_INFO

do_deb

DBG

Source: PXMC – Portable, highly eXtendable Motion Controllibrary, http://pxmc.org/, developed and used at PiKRON formore than 15 years already


http://pxmc.org/

http://www.pikron.com/

[email protected]




Controller Thread Latency Prevention

Implemented in file rpi simple dc servo.c

Next commands are available setpwm, readirc and runspeed.

The real time task cannot be swapped or code paged in ondemand

mlockall(MCL_FUTURE | MCL_CURRENT)

real time priority has to be used for control task

pthread_attr_t attr;

struct sched_param schparam;

pthread_attr_init(&attr);

pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);

pthread_attr_setschedpolicy(&attr, SCHED_FIFO);

schparam.sched_priority = sched_get_priority_min(SCHED_FIFO);

pthread_attr_setschedparam(&attr, &schparam);

pthread_create(thread, &attr, start_routine, arg);

pthread_attr_destroy(&attr);


https://github.com/ppisa/rpi-rt-control/blob/master/appl/rpi_simple_dc_servo/rpi_simple_dc_servo.c

[email protected]




The Controller Timing

The use CLOCK MONOTONIC for all control related timingis critical, CLOCK REATIME can skip forward and backwarddue to user or NTP adjustment

sample_period_nsec = 20*1000*1000;

clock_gettime(CLOCK_MONOTONIC, &sample_period_time);

do

sample_period_time.tv_nsec += sample_period_nsec;

if (sample_period_time.tv_nsec > 1000*1000*1000)

sample_period_time.tv_nsec -= 1000*1000*1000;

sample_period_time.tv_sec += 1;

clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME,

&sample_period_time, NULL);

/* Run timed actions there */

...

while(1);


[email protected]




Ensure Proper Stop When Interrupted

void stop_motor(void)

rpi_bidirpwm_set(0);

void sig_handler(int sig)

stop_motor();

exit(1);

...

struct sigaction sigact;

memset(&sigact, 0, sizeof(sigact));

sigact.sa_handler = sig_handler;

sigaction(SIGINT, &sigact, NULL);

sigaction(SIGTERM, &sigact, NULL);


[email protected]




The Controller Sample Time Step

Please consult application code for complete solution with overflowand anti-windup protection

err = (pos_req - actual_pos);

ctrl_i_sum += err * ctrl_i;

action = ctrl_p * err + ctrl_i_sum + ctrl_d *

(err - ctrl_err_last);

ctrl_err_last = err;

rpi_bidirpwm_set(action >> 8);

More information can at pages of DCE’s Real-Time systemsProgramming course http://support.dce.felk.cvut.cz/psr/

and subject’s Semestral Work – Motor Control pages. Othervaluable information on former subject pagehttps://support.dce.felk.cvut.cz/pos/hlavni_uloha/


http://support.dce.felk.cvut.cz/psr/

http://support.dce.felk.cvut.cz/psr/cviceni/semestralka/

https://support.dce.felk.cvut.cz/pos/hlavni_uloha/

[email protected]




Test Results

Reliable speed control achieved for smaller speedsRPi capable to cope with almost full speed of PSR course DCmotor with low resolution IRC sensorThe speed limit is much lower for industry grade motor usedin real PiKRON’s applicationsThe RPi is capable to process about 28 000 IRQ events persecond but when more arrives the system and controller isoverloaded/blocked and motor runs out of controlBut even in overload case system is stable when motor isexternally braked/hold/slow down controller receives CPUtime again and system recovers from overloadSolution is nice for education but not safe for industrial useThe test with FPGA based IRQ processing in in preparationbut even in this case RPi is not considered by us as platformreasonable for industrial motion control applications


[email protected]




Outline

1 Introduction




[email protected]




Embedded Real Time and the DCE Department

CTU FEE Department of Control Engineering has been and isinvolved in Matlab/Simulink real-time support from itsbeginning (origin of real-time toolbox can be trace to ourdepartment)

We have long term experience with fully preemptive kerneland hardware interfacing

Embedded Real-time Target has been adapted/partiallyrewritten by Michal Sojka to be usable for real applications(MathWork included embedded solutions are often Windowsonly and use POSIX timers and signals which haveuncontrolled latencies during delivery)

The blocks for SocketCAN, Humusoft data acquisition PCIcards and minimal set of RPi periferals has been implemented

COMEDI blockset has been updated and tested with ourLinux ERT version as well


[email protected]




RPi DC Motor Control Simulink Diagram

sfIRCInput

IRC0

int32 -808

IRC-display

Convert

IRC int32 to Real

double

IRC-scope

-0.01

ManualPWM

double

sfPWMwDirOutput

PWMwDirManualPWM

Control

doubleOpt. PSDController

w

RSTs

r

red I

u

I

PSubsys PSD

double

0

PositionRequest

double

0

RESET

double

ActiveOutputRange

double-K-

AntiWindup

double

Position

double

Convert

To int

uint8

1.219

PWM-display

Pos

Trajectory

double

PWM

Double Clickto run model on RPi


[email protected]




RPi DC Motor Control Simulink Prototype


[email protected]




RPi DC Motor Control Simulink Remarks and Pointers

Incremental encoder input implemented as S-functionsfIRCInput.c which opens /dev/irc0 and reads actualposition from kernel driverBidirectional PWM output is implemented in S-functionsfPWMwDirOutput.c and uses same registers direct accessapproach as described in the previous sectionThe whole setup is documented on respective Lintarget/LinuxERT project page http://lintarget.sourceforge.net/

rpi-motor-control/index.html

used ert linux target and CC=arm-rpi-linux-gnueabihf-gcc setfor make rtw. scp and ssh are used to copy and run binary ontarget. Simulink external mode (parameters on-line tune andsignals scope windows) is available.The generated code performance is the same as for handwritten case – limitation is IRC events processing in the kernel


https://github.com/ppisa/rpi-rt-control/blob/master/simulink/sfIRCInput.c

https://github.com/ppisa/rpi-rt-control/blob/master/simulink/sfPWMwDirOutput.c

http://lintarget.sourceforge.net/rpi-motor-control/index.html

http://lintarget.sourceforge.net/rpi-motor-control/index.html

[email protected]



BLDC Motor BasicBLDCMotor Control Realized by RPi with SPI FPGA PeripheralOther Projects

Outline

1 Introduction




[email protected]




Three Phase Circuit Transformations


[email protected]




Hall Sensors to Sectored Position

011010110

100101001

12

3

346°

16°

46°

76°

105°

134°166°

196°

225°

256°

278°

317° (962)

(45)

(128)

(211)

(292)

(373)

(461)

(544)

(626)

(711)

(798)

(881)

0°(0)

index


[email protected]




Simplified PMSM Vector Control

+cu

rren

t li

mit

MO

SF

ET

dri

ver

+cu

rren

t li

mit

MO

SF

ET

dri

ver

ENI

do_inp

do_genENG

uA

uC

uB

+cu

rren

t li

mit

MO

SF

ET

dri

ver

iAi Bi C

PIRC, PTPERPTOFS

PTSHIFT

Forward

Clark

A,B,C

to

beta

alpha,

Forward

Park

alpha,

beta

to

D, Q

AP

AS

RP

RS

MA, MSEP, GEN_STGEN_INFO

PMSM

IRC

HAL

Current

ADC

do_out

betato

alpha

A,B,CPWM

Inv.

Park

to

alpha

beta

D,Q

do_conENR

Speed

and/or

position

control

Q

D

Q compoenent

controller

D component

controller

current D

current Q

Source: PiKRON PXMC library


[email protected]




LX ROCON – DC, BLDC/PMSM and Stepper Controller

Source: PiKRONPavel Pisa [email protected] CC BY-SA CPU, MCU, GNU/Linux and Control Applications

[email protected]




LX ROCON – Features

Industry-proven Electric Motor Control libraries and system

FPGA-based Based on Cortex-4 MCU and Xilinx Spartan 6FPGA

Fully configurable, 16 power outputs can be assigned up to4Ö BLDC/PMSM, stepper motors and or up to 8Ö DC motor

FPGA design with inferred blocks only

Portable to MicroSemi FPGAs, does not use vendor-specificblocks

CAN, ETHERNET, Serial, RS-485 and USB communication

RTEMS, Nuttx and mbed supported


[email protected]




LX ROCON – LX CPU Board

74LVC1G86

U19

LX_CPU2ANALOG IN

CAN term.

JTAG CPU

BOOT

USB PWR

USBhost

I2C

SERIAL

SDETH IRC4IRC3IRC2IRC1

100nC91

74HC1G08

U23

74HC1G08

U24

C89

100nC88

47K

R13

ADUM1201

IO4

ADUM1201

IO1

1u

C87

MBR0530D8JP14

100n

C79

LED-O

D7

LED-R

D6

LED-B

D5

SMBJ5.0AD4 100n

C70

CN19

R126

74HCT04

U21

CN18

100uC63

C59

100n

CN17CN16

32.768K-CFPX217

X2

22RR121

JP7

JP6

74LVC1G86

U20

74LVC112U18

24C64-OT

U17

CN15

CN14

M25P32U16 J

P4

100n

C47

10u

C43

C37100n

22u

C36

1n

C35

MCP1612

U15

22u

C33

DLJ4018-4.7

L4

22uC32

100nC30

MCP1612U14

JP322R

R83

22R

R37

R70

R69

R60 R48

R46

R43

TLC272

IO3

22RR117

CN12

LM3526M-L

U13

100uC24

10u

C22

100n

C21

100n

C20

MT48LC4M32B2PU2

JP2

22K

R95

10RR93

CN10

AM26LV32CD

U12

R81

CN9

AM26LV32CD

U11

22R

R72

R71

CN8

AM26LV32CD

U10

CN7

AM26LV32CD

U9

R47

R45

R44

R42 R41

R40

R39

R38

XC6SLX9-2TQG144

U8

CN6

TJA1050

U7ADUM1201

IO2

CN5

LED-YD3

LED-GD2

CFPS-39-50MU6 10u

C16

DP83848I

U5

4K87

R25

50RR24

50RR23

50RR2250RR21

CN4

BSS83PT2

CN3

12.00M-SMDXT324

X1

10KR18

1K5

R17

BSS138T1

100n

C3

CN2

CN1

22uC2

68KR4

22KR3

DLJ4018-4.7L2

JP1

LPC1788

U1

RS-232

uLANRS-485

CAN

SPITTL I/O

or UARTor SPI

USBdevice

LCDdisplay


[email protected]




LX ROCON – Power Stage with CPLD Implemented ADC

Example: up to 4 BDLC/PMSM and IRC equipped or sensor-less stepper motor control (16× 5 A, up to 28 VDC, fully protected phase half-bridges)

One HBR Analog

8× to one AGL1258× PWM and ADC

Fast serial communicationto the second AGL125

and superordinate FPGA and MCUvector control system

DC In connectors– one on each rail end

Half bridge control, sense and power pins

Current and PWM D-Q transformations and commutation completely driven by Xilinx FPGA

Source: PiKRON


[email protected]




Outline

1 Introduction




[email protected]




PMSM Experimental Setup

Source: Martin Prudek’s Bachelor Thesis


https://dspace.cvut.cz/bitstream/handle/10467/62036/F3-BP-2015-Prudek-Martin-Bp_2015_prudek_martin.pdf

[email protected]




Motor, Boards and Interconnection

MotorMotordriver

Expansion unit with

FPGA

Raspberry Pi+ Linux 3.18-RT


[email protected]




Function Placement to the Borads

Raspberry Pi

SPI

Motor

IRC

3 phase

stator windigns

Hall ef ect

sensors

Motor driver

Half-bridges

FPGA

Expansion unit

ADC

Current

measurments

CPU

CLK

generator


[email protected]




FPGA Functional Blocks

SPI slave PWMcounter

mcpwm1 mcpwm2 mcpwm3

adc_reader

ADC output Hall ef ect sensors output

input of half-bridges

IRC output

CLK gen. output (50MHz)

qcounter

I/Opins

posit

ion

Hall

1H

all2

Hall3

Ch0

Ch1

Ch2

Irc_A

Irc_B

phase

1

phase

3

phase

2


[email protected]




RPi PMSM Motor Control Simulink Diagram

Raspberry Pi Permanent Magnet Synchronous Motor Control

PMSM motor is connected to 3p-motor-driver designed by PiKRON. SPI connected rpi-mi-1 FPGAinterface is used for IRC, HAL and current ADC input and for PWM generation. FPGA designby Martin Prudek. The simplified control algorithm in based on PiKRON's PXMC motion controllibrary sources by Pavel Pisa. More about DCE FEE CTU Linux ERT target and projects at

http://lintarget.sourceforge.net

Simpler version withoutd-componet compensation

-2

IRC-display

IRC-scopesfPMSMonSPI

PMSMonSPI

int32

int32

int32

double (3)

int32

Opt. PSDController

w

RSTs

r

red I

u

I

PSubsys PSD

double

0

PositionRequest

double

0

RESET

double

ActiveOutputRange

double-K-

AntiWindup

double

Position

double

Pos

Trajectory

double

Double Clickto run model on RPi

Current

3

[1x3]

PWM_VAL

double (3)

[1 1 1]

PWM_EN

double (3)

-38

132

-95

Current-display

round

Round1

3

double (3)

[1x3]

Current_offs

double (3)

3

double (3)K*u

Gain

double (3)

ManualPWM SW

3double (3)

[0.0 -0.0]

PWM_VAL1

double (2) alp,beta,b,c

Inv Clarke

double (3)

a, b, calp, bet

Clarke

3

double (2)-56

196

Current-display1

round

Round

2

double (2)

d,q

angle rad

alp,bet

Inv Park

double (2)

ManualAlp bet

2double (2)

[0.0 0.0]

PWM_VAL2

double (2)

ManualD Q

2double (2)

double (2)0

d=0

double

1000

IRC per com

uint32

irc_val

irc_indx

irc_occur

hal

irc_per_com

irc_ph_shift

phase rad

IRC to phase

single[phase_rad]

phase_rad

[phase_rad]

phase_rad 1

single

62

Com phase deg

-K-

Gain1

singleround

Rad 2 Deg

single

0.011204867108941

Current-display2alp, bet

angle rad

d, q

Park

double (2)2

[phase_rad]

phase_rad 2

single

Current1

0

IRC-speed

int32

Convert

IRC int32 to Real

double

z

1

UnitDelay

int32

55

IRC Phase Shift

double

-860

Index Pos


[email protected]




RPi PMSM IRC Plot

0 2 4 6 8 10 12 14 16 18 20

−2000

−1500

−1000

−500

0

500

1000

1500

2000

IRC Inputs


[email protected]




RPi PMSM Current A, B, C Plot

0 2 4 6 8 10 12 14 16 18 20−1500

−1000

−500

0

500

1000

1500Current A, B, C


[email protected]




RPi PMSM IRC Current D, Q

0 2 4 6 8 10 12 14 16 18 20

−2000

−1500

−1000

−500

0

500

1000

1500

2000

Current DQ


[email protected]




Outline

1 Introduction




[email protected]




SocketCAN Simulink Blockset

The blockset is quick proof port of the CAN Autosar APIbased blocks developed at DCE initially for own automotivegrade ARM Cortex-R4 based embedded platform

The code is generated under designed control of TLC (TargetLanguage Compiler) blocks description which allows tooptimize blocks code for used data-types and interconnection

For more information about embedded systems rapidprototyping support developed in our group look athttp://rtime.felk.cvut.cz/rpp-tms570/

Notices about more Linux and embedded hardware used,tested and even some designed look athttps://rtime.felk.cvut.cz/hw/


http://rtime.felk.cvut.cz/rpp-tms570/

https://rtime.felk.cvut.cz/hw/

[email protected]




x86 Linux ERT and Parallel Kinematic Robot Control

4 DC motors, 4 incremental encoders, other I/Os

Presented at Embedded world 2014

Sampling period 1 ms but complex computations

More reliable that previously used Windows target


[email protected]




Cortex-R4 Automotive Platform and Test Board

TMS570LS3137 (EP) N2HET, no IRC specific peripheral


[email protected]




TMS570 Motion Control for Safety Applications

TMS570LC4357 / RM57L843 ARM Cortex-R5F, two cores inlockstep, 4 MB Flash, 512 kB SRAM, 3 kB I, 3 kB D Cache,all memory with ECC, 2Ö QEP, N2HET 64TMS570LS1224 / RM46L840 ARM Cortex-R4F, lockstep,1280 kB Flash, 192 kB SRAM, no cache, all memory withECC, 2Ö QEP, N2HET 44No MMU, not reasonable target for Linux, when SDRAMused then it is without ECC and SDRAM is not well suitablefor critical applicationsFreescale/NXP alternative PowerPC based systems MPC57xx(eTPU)Ti tools with FreeRTOS, more or less demo for proprietarySAFERTOS, other uC/OS-II, CoDeSys, SCIOPTARTEMS BSP development started in GSoC frame, supportincludes chip initialization and lwIP based networking (notfully integrated yet)Pavel Pisa [email protected] CC BY-SA CPU, MCU, GNU/Linux and Control Applications

[email protected]




Industrial Motion Control Options

DSP Ti C2000, Freescale/NXP MC56F84XXX, MC56F82xxx

MCUs Ti TM4C ARM Cortex-M4F, STM32Nucleo+IHM02A1, Freescale/NXP Kinetis V ARMCortex-M0+/M4/M7

GNU/Linux capable systems Ti AM335x, Ti AM437x


[email protected]




Conclusion

More ready to be uses open-source building blocks for controlapplications have been presented and are available online

We are looking for students who has interest in real-time,operating systems and control/embedded hardware

We cooperate with more industrial partners on many projectsand students can gain experience and valuable knowledgeduring their work on the project in frame of thesis

We offer control related courses Real-Time systemsprogramming and participate on generic computerarchitectures courses at CTU FEE

Thanks for attention and questions


[email protected]

processor systems, gnu/linux and control applications

Documents