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Alizem embedded motor control software ip for critical applications

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Alizem embedded motor control software ip for critical applications. Datasheet. Based on Canadian Space Agency technology.

Alizem embedded motor control software ip for critical applications. Datasheet. Based on Canadian Space Agency technology.

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  • 1. Embedded Motor Control Software IP for Critical Applications - Brochure - General Description This document presents detailed technical informations regarding Alizem Embedded Motor Control Software IP for Critical applications. This software product is based on a technology developed at the Canadian Space Agency and designed to be used in applications where maximum reliably and performance in one hand and minimum power consumption, size, and weight on the other hand are critical to mission success. This software can be integrated into existing motor controllers to enhance performance and although it has been developed for aerospace industry, it can be applied into any motor control application where energy consumption and reliability is important.    Key Features Typical Applications and Markets      Optimal management of winding current distributions in real-time Ripple-free torque: reduced losses by 20% / maximum torque boosted by 20% Ripple-free torque: reduced mechanical stress, noise, and velocity fluctuations while increasing pointing accuracy in motion servo applications Works for any back-EMF waveform Automatic and full recovery from a phase failure Accurate torque production in the face of current and voltage saturations Designed for BLDC, Permanent Magnet Synchronous and Induction Motors Quick and easy-to-integrate: no extensive embedded software or motor Control skills required      Flywheels and gyroscopes Electric vehicles and robotics Nuclear power plant Any application where energy-efficiency and reliability is critical Consumer, Medical, Industrial, Automotive, Defense markets      Software License for system design and production purposes Software customization and engineering services to fit your system Capability to use Canadian Space Agency test bench for further testing Full integration support Long-term software maintenance service Typical System Architecture Deliverables © COPYRIGHT Alizem inc. and Canadian Space Agency 2014 - All Rights Reserved 1/6
  • 2. Embedded Motor Control Software IP for Critical Applications - Brochure - Detailed Motor Control Algorithm Description Schematic    Details    Publications   © COPYRIGHT This algorithm generates three phases current commands ia.b.c. from desired torque command τd coming from speed-control loop or high-level torque controller. When a new motor is connected to the motor drive, the back-emf profile of each phases of the motor is identified and stored in the form of corresponding Fourier coefficients [b1, …, bn] and [c1, …, cn]. At each cycle, a new torque reference τ* is computed based on the torque command τd, the cogging torque estimation (Fourier Series with [b1, …, bn] coefficients) and the torque offset function (Fourier Series with [c1, …, cn] coefficients) at position θ. This torque reference τ* is then used to generate current commands ia,b,c,. Scaling and offset values are calculated from motor shaft position and velocity feedback signals for each position and each speed point and power stage voltage and current limits are taken into account. Although both position and velocity sensors are shown on the schematic, this algorithm can work with a velocity estimation derived from position measurements. Aghili, F., “Optimal and Fault-Tolerant Torque Control of Servo Motors Subject to Voltage and Current Limits,” IEEE Trans. on Control System Technology, Vol. 21, No. 4, July 2013, pp. 1440–1448. IEEEXplore Aghili, F., “Ripple Suppression of BLDC Motors with Finite Driver/Amplifer Bandwidth at High Velocity,” IEEE Trans. on Control Systems Technology, Vol. 19, No. 2, March 2011, pp. 391–397. IEEEXplore Aghili, F., “Fault-Tolerant Torque Control of BLDC Motors,” Power Electronics, IEEE Transactions on, Vol. 26, No. 2, 2011, pp. 355 –363. IEEEXplore Alizem inc. and Canadian Space Agency 2014 - All Rights Reserved 2/6
  • 3. Embedded Motor Control Software IP for Critical Applications - Brochure - Experimental validation of the controller performance has been conducted on a three-phase synchronous motor with 9 pole pairs. Ripple-free torque (speed = 21 rad/s, torque command = 10 Nm) Ripple-free torque at low speed (speed = 2 rad/s, torque command = 25 Nm) Experimental results Robust to motor phase failure (phase A = open circuit, speed = 21 rad/s, torque command = 10 Nm) © COPYRIGHT Alizem inc. and Canadian Space Agency 2014 - All Rights Reserved 3/6
  • 4. Embedded Motor Control Software IP for Critical Applications - Brochure - API Overview Application Programming Interface (API): this how you connect the software to your main application loop using simple functions such as “set motor speed”. The API has multiple modes of operation meant to help the user during the software integration process and during software operation. The API enables to interface with any type of position, voltage or current sensors. Below are described the main API functions. set_mode(mode) This function sets the IP in the following modes of operation: Mode Name 0 Default Description Default mode. Everything is shut off. 1 2 Debug transducers This mode aims to check the proper connection between current & position transducers with their corresponding electronic device pins. Debug system protection This mode aims to make sure that system protection (over current, over DC bus voltage and over temperature) works well before running the motor and prevent system damage or injuries. 4 Run open-loop This mode aims to run the motor with simple six-step switching mode to validate the proper operation of power stage, position encoder and software drivers. Voltage amplitude and frequency can be set by using the function: set_debug_mode_parameter() You can have the drive to auto-shut off after a few seconds by using the same function. 5 Software driver API Debug power stage This mode aims to check the proper connection between power stage pins in design and actual power stage pins. No load should be connected to power stage. Run closed-loop (current/torque). This mode aims to run the motor with closedcurrent loop. This mode should be used to tune current control parameters and operate the motor in torque mode. Run closed-loop (speed) This mode aims to run the motor with closedspeed loop. This mode should be used to optimize speed control parameters and operate the motor in speed mode. 3 6 © COPYRIGHT Alizem inc. and Canadian Space Agency 2014 - All Rights Reserved 4/6
  • 5. Embedded Motor Control Software IP for Critical Applications - Brochure - set_debug_mode_parameter(parameter, value) Parameter Value 0 Open-loop Frequency Frequency value in Hz (integer) 1 Open-loop Voltage Four options: 0 (off), 1, 2, 3 (maximum voltage) 2 Auto-shut off Enable 0: Disabled 1: Enabled 3 Auto-shut off Time In seconds. 4 Torque reference Nm – For mode 5 only set_system_protection_parameter(parameter, value) Parameter Value 0 Maximum VDC bus voltage Based on your measurement parameters. 1 Minimum VDC bus voltage Based on your measurement parameters. 2 Temperature warning limit Based on your measurement parameters. 3 Temperature alarm limit Based on your measurement parameters. 4 Maximum current phase limit Based on your measurement parameters. 5 Phase Current Protection 6 Maximum mechanical speed 7 Speed measurement Protection 111b = CBA, 101b = CA, 000b None. In RPM. 0: Disabled, 1: Enabled Three Packaging Options Software only Software is delivered and meant to be directly integrated on customer’s electronic device (MCU, DSP or FPGA) by customer’s engineers. Complete SoC This package consists of a full SoC – including Alizem Embedded Motor Control Software IP and any other IP such as Industrial Ethernet – customized and tested for customer’s application. The system is delivered as software configuration files ready to be downloaded to customer’s electronic device. Turnkey solution This package consists of a complete SoC and all electronics circuits, electrical connectors and mechanical interfaces around it. Alizem partners with industry-leading design house to do this. © COPYRIGHT Alizem inc. and Canadian Space Agency 2014 - All Rights Reserved 5/6
  • 6. Embedded Motor Control Software IP for Critical Applications - Brochure - Intellectual Property Motor Control Software API Patent-pending and owned by Alizem inc. Motor Control Software Algorithm Patent-pending and owned by the Canadian Space Agency. Used under License by Alizem. Engagement Model and Software IP Licensing Price Please contact Alizem for more information. Contact us For more informations regarding this product, please contact Alizem : Phone : (+1) 418-614-4643 email : sales@alizem.com 13, rue Saint-Louis Suite 103 Lévis (Québec) G6V 4E2 CANADA Website : www.alizem.com Alizem inc., Materializing Performance, Virtual Motor Control IC and other names of Alizem products, product features and services are trademarks and/or service marks of Alizem inc. in Canada and other countries. No warranties: This documentation is "as is" without any express or implied warranty of any kind including warranties of merchantability, no infringement of intellectual property or of fitness for any particular purpose. In no event shall Alizem or its suppliers be liable for any damages whatsoever (including, without limitation, damages for loss of profits, business interruption or loss of information) arising out of the use of or inability to use this documentation, even if Alizem has been advised of the possibility of such damages. Because some jurisdictions prohibit the exclusion or limitations of liability for consequential or incidental damages, some of the above limitations may not apply to you. Alizem further does not warrant the accuracy or completeness of the information, text, graphics or other items contained in this document. Alizem may make changes to these materials, or to the products described therein, at any time without notice. Alizem makes no commitment to update this document. DOCUMENT VERSION: 1.0 © COPYRIGHT Alizem inc. and Canadian Space Agency 2014 - All Rights Reserved 6/6