Utvärdering av ett system för Rapid Control Prototyping inom området robotstyrning
In this report a system for Rapid Control Prototyping, RCP, is evaluated through an
implementation of the motor control methods Field Oriented Control, FOC, and Space Vector
Pulse Width Modulation, SVPWM. The evaluation emphasizes on time-consumption and
resource utilization on the used hardware and on usability for of software.
A new mechatronic laboratory is under development at ABB Corporate Research in Västerås. It
will be used for both mechanical and motion control design using existing and new hardware.
The control structure in a traditional robot system will be interfaced to a rapid prototyping
system which should allow easy changes to algorithms at different levels in the system.
The system designated for this project comes from National Instruments and constitutes
LabVIEW Real-time and FPGA module as the software tools. The hardware is a NI Single-
Board RIO (Reconfigurable Input Output), sbRIO, development board including a Field-
Programmable Gate Array, FPGA, from Xilinx and a microprocessor from Freescale
Semiconductor. Graphical programming is performed in the LabVIEW environment, and
through Xilinx tools the LabVIEW FPGA code is compiled to VHDL code.
A pre-study was carried out to clarify the concept of RCP and investigate different systems for
RCP and their traits. The theory behind FOC and SVPWM is also included in the theory part of
FOC and SVPWM were implemented in LabVIEW code in the modules FPGA and Real-Time.
The code executed on the Single-Board RIO and through interface cards and drive circuits
motors were controlled. To evaluate the time-consumption and resource utilization, different
versions of the code were implemented.
The result of the evaluation is that the RCP system is promising to use in this context, but that
the used hardware is not sufficient, especially not the FPGA. The time critical calculations have
to be executed on the FPGA since the communication between the microprocessor and the
FPGA is too time-consuming. If the hardware in this RCP system is upgraded with a larger
FPGA, the system will be suitable for this application.
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