Utvärdering av ett system för Rapid Control Prototyping inom området robotstyrning
Sammanfattning: 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 the thesis. 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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