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686 (2) - CEAI Vol.12 No.1 pp 55-61 2010 Printed in Romania...

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CEAI, Vol.12, No.1, pp. 55-61, 2010 Printed in Romania BLDC motor control using rapid control prototyping Radu Duma, Mirela Tru ş c ă , Petru Dobra Technical University of Cluj–Napoca, Automatic Control Department Abstract: The paper presents a Rapid Control Prototyping (RCP) toolbox, Target for Renesas M32C87, for Matlab/Simulink which can be used to generate real-time C code for the Renesas M32C87 microcontroller. The RCP toolbox contains a digital motor control library which implements a brushless direct current (BLDC) motor control algorithm. A practical application for closed loop speed control of brushless direct current motor is presented. Keywords: rapid control prototyping, automatic code generation, real-time, M32C87 microcontroller, PID, brushless direct current motor 1. INTRODUCTION Developing controllers for applications (electrical drive systems) means large expenditure, when performed with usual development methods. The workload comprises development of a mathematical model as well as algorithm design and implementation, off-line simulation, and optimization. The whole process has to be restarted on occurring errors or divergences, which makes the development process time consuming and costly [8]. RCP is a way out of this situation, especially if the control algorithm is complex and a lot of iteration steps are necessary. RCP requires two components: a Computer Aided Control System Design (CACSD) software and a dedicated hardware capable of running hard real-time tasks (Fig.1). Fig. 1. General architecture of an RCP system. CACSD tools are extensively used to generate real-time code automatically. The graphical programming approach removes the need to write software by hand and allows the engineer to focus instead on improving functionality and performance. Complete system design is carried out within the simulation environment. With the great diversity of applications, a development environment must be flexible and provide exactly the functionality necessary for efficient problem solving. Mathworks' Simulink [11] software is such a graphical modeling tool. MathWorks developed toolboxes for some wildly used targets: Motorola MPC555, Infinion C166, C2000 and C6000 DSP families from Texas Instruments. Rebeschiess [14] developed the MICROS toolbox for standard 80C166 microcontrollers. A DSP based RCP system for engineering education and research using as CACSD tool Matlab/Simulink is presented in [9]. Hanselmann [7] from the dSPACE GmbH presented ’Total Development Environment’ (TDE) for rapid control prototyping. TDE includes MATLAB, Simulink, powerful hardware, based on the DSP’s, and an additional set of software tools for online data visualization (COCKPIT, TRACE). Controller boards like DS1104 and DS1103 are appropriate for motion control and are fully programmable from the Simulink environment.
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