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FPGA Implementation of Multiple Controllers for a Magnetic Suspension System
By: Chris OliveraAdvisors: Dr. Winfred Anakwa
& Dr. Yufeng LuBradley UniversityFebruary 27, 2014
Outline Of Presentation:
Summary
Goals
Functional Description
Block Diagram
Functional Requirements
Lab Work (Previous and New)
Project Schedule
Questions?
Summary
Purpose to implement previously designed multiple controllers
that used current and position feedback to suspend a metallic ball with an electromagnet on a FPGA board instead of a xPC Target Box or dSPACE board.
Why? to minimize costs!
xPC Target Box ~ $7,000
dSPACE ~ $12,000
FPGA Board ~Less than $1,000
Goals
To Implement Multiple Controllers for Rejection of Multiple Disturbances
Build Op-Amp Circuits to Shift Voltage Signals to FPGA Levels
Implement Controllers Using FPGA Board and Xilinx Software
Created and Tested In Simulink
FPGA Board Serving as Controller
Minimize Steady-State Error, Overshoot, and Settling Time
Functional Description
Method of Choice:
Internal Model Principle
Host PC using Simulink and Xilinx software
FPGA Board with Controllers
Magnetic Suspension System
Internal Model Principle
Developed by B.A. Francis & W.M. Wonham
Theory Controller is designed to include a model of the disturbance to be rejected while also
augmenting plant poles onto a desired transfer function. When disturbance is present in system, the model, having already accounted for it, rejects it and leaves the system output unchanged.
High-Level Functional Diagram
Magnetic Suspension System
Coil Driver BallElectromagnetic
Coil
Photo
SensorPosition Signal
Control Signal + Disturbance
Current Sensor
(1kΩ)Current Level (unused)
Control and Disturbance Drives Current
Current Induces Magnetic Field
Field Suspends Ball
Sensor Translates Location into Voltage
FPGA Board and Host PC
Using 0V~3.3V ADC and DAC in FPGA Board
Resolution = 32 bits
Download Controller, Upload Commands
Process Position Data and Passes Control
Block Diagram
Functional Requirements
Meet Specifications Tracking of Reference Waveforms
Percent Overshoot
Settling Time
Steady State Error
Input/output User selectable Sine, Square, Step Reference Waveforms
Set Point Ball Position
Software Functionality FPGA
Dunlap’s Previous Work
Using Classical Controller
7.67
1/961s +-12
Transfer Fcn1
7.67
1/961s +-12
Transfer Fcn
ste
To Workspace2
sin
To Workspace1Step3
Step1
Step
Sine Wavenum(z)
z -z2
Discrete
Transfer Fcn1
num(z)
z -z2
Discrete
Transfer Fcn
U + DER U
U + DER U
Dunlap’s Previous Work
Tested Classical Controller With Disturbance
Rejected Step Disturbance
0 0.5 1 1.5 2 2.5 30
0.05
0.1
0.15
0.2
0.25
0.3
0.35
.25 Input Reference
input w/.1sin(pi*t) disturbance
input w/ .1 unit-step disturbance
Completed Tasks
Utilize Internal Model Principle
Ramp and Step Disturbance
Automated Controller Design
Implement Controller In Simulink
Test Voltage Ranges of Previous Controllers
Lab Work
Tested Voltage Ranges of Multiple Controllers
dnlptutorialmag -3V – 3V
boline -2V – 2V
tutorialmag -3V – 3V
Desired Worst Case Range -3V – 3V
Dunlap’s Simulink Controller
Example of one Controller used
Transfer Function
Dis_Class_Num(s)
Dis_Class_Den(s)
Transfer Fcn4
Reference_Num(s)
Reference_Den(s)
Transfer Fcn3
Dis_Class_Num(s)
Dis_Class_Den(s)
Transfer Fcn2
Reference_Num(s)
Reference_Den(s)
Transfer Fcn1
7.67*.18
1/961s +-12
Transfer Fcn
Scope2
Target Scope
Id: 1
Scope (xPC)
MM-32
Diamond
Analog Output
1
MM-32 1
MM-32
Diamond
Analog Input
1
MM-32
Numd(z)
Dend(z)
Discrete
Transfer Fcn1
Numd(z)
Dend(z)
Discrete
Transfer Fcn
du/dt
Derivative4
du/dt
Derivative3
du/dt
Derivative2
du/dt
Derivative1
1
Constant3
1
Constant2
1
Constant1
1
Constant
ER
Y
D
Uc U
FPGA Implementation
FPGA Implementation
Subsystem
FPGA Implementation
Full Resolution FPGA (32 bits)
Simulink Results
Full Resolution FPGA
Converting to
FPGA Range
(slight difference)
Original
Using Xilinx
Project Schedule
2/27 – 3/13 Design, Build, and
Test Op-Amp Circuits
Generate VHDL code and Implement on FPGA Board
Demonstrate Working Magnetic Suspension System
3/14 – 3/24 Spring Break
3/25 – 5/14 Final Report
Final Presentation
Project Demo
Student Expo??
References
[1] B.A. Francis and W.M. Wonham, “The Internal Model Principle of
Control Theory,” Automatica. Vol. 12, pp 457-465, 1976.
[2] Jose A. Lopez and Winfred K.N. Anakwa, “Identification and
Control of a Magnetic Suspension System using Simulink and dSPACE
Tools”, Proceedings of the ASEE Illinois/Indiana 2003 Sectional
Conference, March 27, 2004, Peoria, Illinois, U.S.A.
[4] Jon Dunlap, “Design of Disturbance Rejection Controllers for a
Magnetic Suspension System”, Bradley University Department of
Electrical and Computer Engineering, May 8, 2006, Peoria, Illinois,
U.S.A
[4] Gary Boline and Andrew Michalets, “Magnetic Suspension System
Control Using Position and Current Feedback”, Bradley University
Department of Electrical and Computer Engineering, May 17, 2007,
Peoria, Illinois, U.S.A
Questions?