1. Motion control implementation and validation for high precision, highly reliable moveable devices
Jorge Sola Merino (EN-STI-ECE)
Supervisor: Mark Butcher

2. Outline Introduction Project description Stepper motor control
PMSM motor control
Future work
29/11/2016

3. Introduction
ECE: design, implementation and operation of control systems for moveable devices
Mechatronics service:
Piezo actuated stage for crystal collimation
Stepper motor drive
29/11/2016

4. Project description Objective: Problems: Solution:
Control of stepper motors for collimators and targets
Problems:
Current commercial drives work in open loop
Highly radioactive environment
Long cables
Solution:
Upgrade current drives to a full custom drive
29/11/2016

5. Stepper motor drive
29/11/2016

6. Stepper motor drive
29/11/2016

7. Stepper motor drive 100% compatible with previous drive
Firmware runs in a DSP
Run time switch from closed to open loop
Autotesting capabilities
Measurement of mechanical degradation
Potential large scale deployment of the drive for the HL-LHC
Ongoing knowledge transfer with SHS
29/11/2016

8. Stepper motor drive Tasks: Software development
Code optimization
Adding features
EEPROM emulation
Voltage/Duty LUT
Unit testing
Extension to PMSM motors
29/11/2016

9. Stepper motor drive
Unit testing:
29/11/2016

10. PMSM motor drive Using same hardware in PMSM motors? YES
Drive becomes more cost effective
Possible control approaches:
Direct Torque Control (DTC)
Field Oriented Control (FOC)
Trapezoidal Control
29/11/2016

11. PMSM motor drive Steps on FOC implementation:
Matlab/Simulink simulation of motor and drive
C implementation of drive logic
Implementation and verification with real motor
29/11/2016

12. Future work Implementation of Extended Kalman Filter
Extending Unit Testing to all the code
Commissioning of HW and FW in LHC and NA targets
Developing a new branch of code for PMSM motors
29/11/2016

13. Thank you for your attention.
Questions?