Hardware Implementation of a Predictive DTC-SVM with a Sliding Mode Observer of an Induction Motor on the FPGA

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1 WA RANACION on YM and CONROL abe Km, oufen Gdam, Abdellatf Mtbaa, Mohamed Faouz Mmoun Hadwae Implementaton of a Pedctve DC-VM wth a ldng Mode Obeve of an Inducton Moto on the FPGA abe KRIM, *** **** oufen GDAIM, Abdellatf MIBAA and Mohamed Faouz MIMOUNI *,**,*** Laboatoy of lectonc and Mcoelectonc, Faculty of cence, Unvety of Monat, una Reeach Unt Indutal ytem tudy and enewable enegy. Unvety of Monat, una ***, **** he Natonal ngneeng chool of Monat Ibn l jazza Cty, 59, Monat, una Abtact: - he ft objectve of th eeach to peent an mpoved Dect oque Contol baed on the pace Vecto Modulaton (DC-VM) and a ldng Mode Obeve (MO). he dadvantage of the conventonal Dect oque Contol (DC) ae the hgh pple fo the electomagnetc toque and the tato flux, a well a the dtoton of the tato cuent. o olve thee poblem, we have ued the appoach of the (DC) baed on the pace vecto modulaton. Alo, one of the majo poblem fo contollng nducton machne the lack of knowledge about the eal value of ome paamete, uch a the tato etance whch ubjected to lage vaaton dung the opeaton. o follow the change n the ntenal tate of the ytem and the tato etance we ue a technque baed on the MO. h technque ovecome the lmtaton of the open-loop etmato, lke the adaptaton of the vaaton of the tato etance at a low peed, the coecton of meauement eo of the tato cuent, and the etmaton eo of the tato flux. he econd objectve to popoe a novel method fo mplementng a DC-VM wth an MO on the Feld Pogammable Gate Aay (FPGA). he advantage of th method ae not only the mulaton, contol and tetng of the coect opeaton, but alo the development of a dcete algothm and the geneaton of the Vey-hgh-peed ntegated ccut Hadwae Decpton Language (VHDL) code whch can be mplemented on the FPGA. he pefomance of the DC-VM wth an MO ae evaluated by dgtal mulaton and developed to be mplemented on Xlnx Vtex-V FPGA wth an xc5vfx7t-3ff36 package ung the toolbox Xlnx ytem geneato. Key-Wod: - Dect oque Contol (DC), pedctve contolle, pace Vecto Modulaton (VM), nducton moto, ldng Mode Obeve (MO), Xlnx ytem Geneato (XG), Feld Pogammable Gate Aay (FPGA). Intoducton Nowaday, the competton on the maket eque new ndutal ytem wth hghe pefomance. At the ame tme the cot mut be acceptable. o educe the cot, the tme-to-maket, the pce of the contolle devce and t enegy conumpton mut be educed. It too dffcult to deceae the cot, gven that the new ndutal contol ytem need computng eouce and educed executon tme. o olve th poblem, two man famle of contol devce ae ued: the oftwae oluton, lke the Dgtal gnal Poceo (DP) contolle, and the mcocontolle and hadwae oluton, lke the Feld Pogammable Gate Aay (FPGA). he mcocontolle and DP contolle ntegate a mcopoceo coe and eveal pepheal to communcate wth the exteo envonment. [] and [] peent the dffeence between the mcocontolle and the DP contolle. he man lmtaton of thee oluton the dffculty to take advantage of the paallel poceng. o ovecome th lmtaton, an altenatve famly of avalable dgtal devce fo the dgtal contol of ndutal ytem the FPGA [3]. An FPGA cont n an aay of logc block nteconnected by a geneal nteconnecton netwok. he man advantage of the FPGA, elatve to the oftwae oluton, paallel poceng. o due to t mave computaton capablty, the FPGA the mot ued component to ovecome the eal-tme contant, motly fo the complex algothm. Inducton machne ae cuently the mot ued machne n the ndutal feld thank to the low cot, obutne, good pefomance and mple contol [4]. hey ae ued n multple applcaton that eque peed vaaton. he conventonal Dect -IN: Volume, 5

2 WA RANACION on YM and CONROL abe Km, oufen Gdam, Abdellatf Mtbaa, Mohamed Faouz Mmoun oque Contol (DC) a new contol technque developed and peented by [5], [6] and [7]. It baed on the oentaton of the tato flux by a dect acton on the tate of the wtche of the nvete [8], [9]. h technque chaactezed by vey fat dynamc []. On the one hand, the conventonal DC ha ome advantage: It doe not eque calculaton n the efeence (d, q) hee no calculaton block voltage modulaton (pule wdth modulaton). It not neceay to make a cuent decouplng elatve to voltage, a n the cae of the Feld Oented Contol (FOC) On the othe hand, t ha ome dadvantage a: he extence of the electomagnetc toque pple he extence of the tato flux pple he extence of a hgh dtoton of the cuent he vaaton of the wtchng fequency. o mpove the pefomance of the conventonal DC n tem of pple and vaaton n the wtchng fequency, the Dect oque Contol baed on the pace Vecto Modulaton (DC-VM) technque wa uggeted n [], []. he DC- VM utlze a pue open loop ntegaton havng well-known poblem of ntegaton effect on dgtal ytem, epecally at a low peed opeaton ange [3], [4], and t entve to the vaaton of the tato etance [5]. heefoe, many obevaton method, lke the hgh gan obeve, the backteppng obeve, the model efeenceadaptve ytem and the extended kalman flte [6], ae ued to ovecome thee lmtaton. In th wok, we popoe to ue the adaptve ldng mode obeve (MO) fo the obevaton of the tato flux and the adaptaton of the vaaton of the tato etance. he obeve ha been ntoduced to eplace the open-loop etmato of the tato flux. Futhemoe, t ha been povded wth an adaptaton mechanm of the tato etance. hu, the ft objectve of th eeach, to gve a fa compaon between the two technque (conventonal DC and DC-VM) n tem of pple of the tato flux and toque and n tem of hgh dtoton at the wavefom of the tato cuent. he econd objectve, to gve a fa compaon between a DC-VM wth an open loop etmato and a DC-VM wth a ldng mode obeve at the adjutment tage of the tato etance. Fnally, the thd objectve to mplement the popoed model on the Xlnx Vtex-V FPGA, to enjoy the pefomance of the FPGA n the feld of dgtal contol of electcal machne n eal tme. he pefomance of the uggeted model poved by mulaton and mplementaton eult. he oganzaton of th pape gven a follow: In ecton II, an ovevew of the hadwae mplementaton method peented. In ecton III, the nducton moto model and the conventonal DC pncple ae peented. In ecton IV, the pace vecto modulaton and the MO ae decbed. In ecton V, the degn of the MO n XG peented. In ecton VI, the mulaton eult of the pedctve DC-VM wth MO ung the XG ae peented and dcued. In ecton VII the mplementaton eult ung the FPGA Vtex 5 ae peented and dcued. ecton VIII conclude th pape by dcung the oveall eult of the popoed contol technque. Decpton of the hadwae mplementaton method he objectve of th tudy to mplement an algothm of pedctve DC-VM baed on the ldng Mode Obeve (MO) ung the XG block. It a toolbox developed by Xlnx to be ntegated nto the Matlab-mulnk and t let the ue ceate paallel ytem fo the FPGA [7]. he ceated model ae dplayed n block and can be connected to othe Matlab-mulnk block. Once the ytem completed, the VHDL code geneated by the XG tool exactly epoduce the behavo obeved n Matlab. he ealzed ytem mut be mulated and vefed quckly and often thoughout the ytem development. o t much eae to analyze the eult wth Matlab than wth tool aocated wth Vey-hgh-peed ntegated ccut Hadwae Decpton Language (VHDL), uch a Modelm. he XG tool ued to poduce a model that wll mmedately un on the hadwae once completed and valdated [8]. Fg. how the boad flow degn of the XG. A aleady mentoned, you can then move to the confguaton fle to pogam the FPGA [9]. mulnk. Mdl Ceate etbench Modelm Matlab envonnent Fg.. XG degn flow ytem Geneato Xlnx I ynthe Btteam Download nto FPGA -IN: Volume, 5

3 WA RANACION on YM and CONROL abe Km, oufen Gdam, Abdellatf Mtbaa, Mohamed Faouz Mmoun 3 Conventonal DC of an nducton moto 3. Inducton machne model he dynamc model of the nducton machne can be epeented n the (α, ) fame a: d dt d dt d dt d dt α R R L L = σ = ω α = R = R α R R L L σ α α v v ω α wth: Lm σ = L L R σl L ω σl α α ω σl R σl L σ L σ L v α v () he tate model of an nducton machne gven below: [ A] X [ ] X = B U () he tate vecto X compoed by a tato cuent and flux component. he vecto command U conttuted by the tato voltage component. X and U ae gven a n the fom of [ φ φ ] v = [ v v ] X =, α α α 3. Conventonal DC pncple he tuctue of the conventonal DC of the nducton moto wa ntoduced n 986 by akahah.i. Dependng on the poton of the flux vecto n one of the x ecto of the plane (α, ), a tuth table ued to defne the optmum tato voltage vecto to be appled to the moto. he component of the tato voltage vecto V ( V α, V ) ae baed on thee contol vaable ( a, b, c ) of the wtche of the nvete and the DC upply voltage by applyng the tanfomaton Concoda: Vα = U ( a ( b c)) 3 V = U ( b c ) 3 (3) v =v jv (4) α he magntude of the tato flux detemned by calculatng t component n the tatonay efeence, a hown by q.(5) and (6): t = (v ) R dt α α α t = (v ) R dt = α ag = actg α (5) (6) he electomagnetc toque can be etmated fom the component of the tato flux and the cuent n the fxed coodnate ytem (α, ). 3 Ce = p ( α α ) (7) he choce of the contol equence appled to the wtche of a thee-phae voltage nvete baed eentally on the ue of hytee compaato. he hytee band allow avodng unneceay wtchng when the calculated eo vey mall. hu, the tato flux vecto kept n a ccula cown. he contol equence of the nvete wtch voltage wee then defned by [], whee the output of the hytee compaato and and the ecto numbe the wtchng table. N peented the nput of able. wtchng able c N N N3 N4 N5 N6 V V3 V4 V5 V6 V V7 V V7 V V7 V - V6 V V V3 V4 V5 V3 V4 V5 V6 V V V V7 V V7 V V7 - V5 V6 V V V3 V4 he tuctue of the conventonal DC of an nducton moto gven, a hown by Fg. : C -IN: Volume, 5

4 WA RANACION on YM and CONROL abe Km, oufen Gdam, Abdellatf Mtbaa, Mohamed Faouz Mmoun e f - ef - C N wtchng able ( a c) b Invete θ em Open loop tmato oque and Flux etmato V α α abc α abc ( a c) b a b c PI Ω Ω e f α IM 4 Pedctve DC-VM of an nducton moto h contol technque dffe fom the conventonal DC by ung a pace Vecto Modulaton alo whch enue opeaton at a contant modulaton fequency to the convete. In th cae, the toque ef - ef Pedctve contolle Fg.. chematc of the conventonal DC V α -e - f V -ef VM contolled by a pedctve contolle whee the wtchng table and the hytee compaato ae elmnated. h method, we called a DC wth a contant fequency, educe of toque and flux ocllaton. he tuctue of the pedctve DC- VM of an nducton moto gven n Fg. 3. ( a c) b Invete θ em oque and Flux etmato V α abc α α abc ( a c) b a b c PI Ω Ω e f α IM he elatonhp between the electomagnetc toque pulaton em and the devaton of the tato flux φ fom t efeence φ ef gven by q.(8) []: e = K K θ θ (8) e ef ef = ef (9) θ = () ef Fg. 3. chematc of the pedctve DC-VM whee K φ and K ϴ ae the contant deved fom the nducton moto pecfcaton. eef the efeence of the electomagnetc toque. he electomagnetc toque pple ae actually caued by φ and ϴ, but the nfluence of the φ malle than that of the ϴ. A a conequence the electomagnetc toque pple can be almot emoved f ϴ kept cloe to zeo. We can notce n q.(8) that the elaton between eo of the electomagnetc toque and ncement -IN: Volume, 5

5 WA RANACION on YM and CONROL abe Km, oufen Gdam, Abdellatf Mtbaa, Mohamed Faouz Mmoun angle ϴ lnea. heefoe a pedctve contolle ued to geneate the load angle change n ode to educe the eo between the efeence and the eal electomagnetc toque. he dagam of the pedctve contolle hown n Fg.3. he evoluton of the tato flux vecto gven n Fg. 4. q ef θ θ d α V 4 V 3 =3 =4 = =5 V V = V,V 7 V =6 V α 3 V 5 V 6 Fg. 4. tato flux vecto and ef Fom the (α, ) ax, the component of the efeence tato voltage ae calculated a: ef co( θ θ ) co( θ ) Vα ef = Rα () V ef n( θ θ ) n( θ ) = R () ef V = V V (3) ef α ef ef θ = actg( ) (4) α 4. VM pncple Fo each modulaton peod of the nvete, the thee-phae voltage povded by the contol algothm can be expeed n a tatonay efeence fame lnked to the tato by ung the pojecton V α and V. A thee-phae nvete wth two voltage level ha x wtchng cell, gvng eght poble wtchng confguaton (V, V, V, V 3, V 4, V 5, V 6 and V7). hee latte confguaton can be expeed n (α, ) by eght voltage vecto. In Fg. 5, t can be een that the x actve voltage vecto fom the axe of a hexagon and two the zeo voltage vecto ae at the ogn (cente). Fg. 5. Repeentaton of voltage vecto n the coodnate (α, ) V ρ V ρ V V = V ef ρ = V m od ρ = 3 m o d V α Fg. 6. Pojecton of a efeence voltage vecto ecto (=) he ecto detemned ung the component of the voltage vecto ( V, V ) by the followng equaton: α V θ = actg( ) (5) V α he VM hown n Fg. 6, whee the deed voltage vectovef pojected on the two adjacent voltage vectov andv. he value of thee pojecton povde the detemnaton of the deed commutaton tme and and coepond to two nonzeo wtchng tate of the nvete. he efeence voltage vecto n ecto can be expeed n the efeence (α, ) by the followng expeon: -IN: Volume, 5

6 WA RANACION on YM and CONROL abe Km, oufen Gdam, Abdellatf Mtbaa, Mohamed Faouz Mmoun V ef = Vα jv = V V mod whee mod mod (6) = (7) In ecto, the expeon of the voltage n the tato efeence : V ef = Vα jv = mod 3 n()) (co( ) n( )) mod (co() π π j j (8) Ung q.(5) the expeon of the tme and ae gven below: 3 V V mod = V () mod = ( α ) (9) he calculaton of the wtchng wll be detemned fom the followng cyclc epot: ρ = () mod Fo ecto, the cyclc epot ρ and ρ can be epeented a 3 V V α ρ = () V ρ = (3) Fg. 7 how the pace Vecto pule wdth modulaton wtchng patten n ecto N. he tme duaton of each nonzeo vecto dvded equally nto two pat. he tme duaton of the zeo vecto dtbuted equally fom V to V 7, and thu the wtchng equence of the pace vecto V, V, V, V 7, V 7, V, V, and V dung the modulaton peod. h equence can enue that thee only one phae wtch when the wtchng patten wtche, hence the ablty to educe the lo of wtchng devce and the hamonc component of the output cuent of the 3-phae nvete. a c N V V V V 7 V V V c Fg. 7. equence of the wtch tate n ecto N Fo each phae of the nvete, the contol equence ae gven a follow: ρa = ρ ρ ρ ρb = ρ ρ ρc = ρ A ρ ρ ρ = (4) Ung the q.() and (3). q.(4) can be ewtten a 3 V V α ρa = ( ) 3 V V α ρb = ( ) 3 V V α ρc = ( ) (5) 4. Pedctve DC-VM of an nducton moto wth an MO he objectve of the MO to contuct the component of the tato flux vecto and to povde the adaptaton of the tato etance. he pncple of the MO gven n Fg. 8. -IN: Volume, 5

7 WA RANACION on YM and CONROL abe Km, oufen Gdam, Abdellatf Mtbaa, Mohamed Faouz Mmoun u f ( x, u) ldng Mode Obeve Nonlnea ytem x K Fg. 8. MO pncple x h ( x ) gn(.) he obevaton model of the nducton moto can be epeented n the (α, ) fame a follow: y = whee: e L = σ L ( ω =, α α e ) ω = : Roto tme contant R = ω e e (8) he wtchng of the ldng uface ceate an ocllaton phenomenon. o deceae the ocllaton a atuaton functon can be ntoduced to eplace the gn functon. he atuaton functon gven n Fg. 9. R R d α L L R = dt ω σ σ L L ω α σ L σ L R R d d dt d dt α α L L ω = ω α σ σ L α α V A I A I V A I A I = R v A I A I α α 3 3 v A I dt R σ L L σ L whee: = R 4 4 A I (6) A A A = : Matx of gan elated to the A 3 A 4 tato cuent obevaton. A A A = : Matx of gan elated to the A 3 A 4 tato flux obevaton. he gn vecto gven by q.(7). I gne( ) I = = (7) I gne( ) 4.. Detemnng the ldng uface he ldng uface a functon of the cuent obevaton eo. Accodngly, Fg. 9. atuaton functon > λ gn ( ) = < λ ; =, < λ λ whee λ a potve contant wth a low value. (9) 4.. Detemnng the gan matce he matx of gan elated to the cuent obeve a follow: A A δ A = A 3 A = Γ 4 δ (3) whee δ and δ ae two potve contant, whch ae detemned by applyng the tablty condton defned by the Lyapunov appoach. he coecton gan of the tato flux ae detemned by applyng the condton of convegence towad the ldng uface ( = ).he gan matx of the tato flux a follow: A A = A 3 A A 4 q δ = ω σ L ω σ L (3) q δ whee q and q ae two potve contant. -IN: Volume, 5

8 WA RANACION on YM and CONROL abe Km, oufen Gdam, Abdellatf Mtbaa, Mohamed Faouz Mmoun 4..3 Mechanm of adaptaton of the tato etance he ldng mode obeve entve to the vaaton n the machne paamete. It neceay to adjut the tato etance of the machne by addng an adaptaton mechanm. o detemne the etmated tato etance we have ued the Lyapunov appoach whch gven by q.(3). λ V R = R (3) V = λ R R R (33) o atfy the condton defned by q.(33), the etmate of the tato etance gven by q.(34): R = γ α *( α α ) *( ) dt (34) wth γ beng a potve contant. he tuctue of the pedctve DC-VM wth the adaptatve MO of an nducton moto hown n Fg.. ef - e f Pedctve Contolle V α - - e f V - e f VM ( a c ) b Invete R θ em R ldng Mode Obeve (MO) PI Ω Ω e f V α α α abc abc α ( a c) b a b c IM 5 Degn of the MO ung the XG he component of the obeved tato cuent vecto fo the ytem n equaton (6) ae llutated ung the XG, a hown n Fg.. Fg.. chematc of DC-VM wth an MO Fg.. Degn of the Component α fom the XG -IN: Volume, 5

9 WA RANACION on YM and CONROL abe Km, oufen Gdam, Abdellatf Mtbaa, Mohamed Faouz Mmoun he ldng uface and atuaton functon, gven n q.(8) and (9) epectvely, ae llutated ung the XG, a hown n Fg.. Fg.. Degn of the ldng uface and gn functon fom the XG he gan matx gven n q.(3) and (3), epectvely, ae llutated ung the XG, a hown n Fg. 3. Fg. 3. Degn of gan matx 6 mulaton eult 6. etng the effectvene and pefomance of the pedctve DC-VM he mulaton of the conventonal DC and the pedctve DC-VM acheved ung the XG. he peed, toque and flux efeence, ued n the mulaton eult of the dect toque contol tategy, ae Ω ef =5ad/ and =.9( ωb), epectvely. At the tme t = ec, a load toque of Nm appled. he nducton moto paamete ae n the Appendx. ef Roto peed (ad/ ) t() Roto peed ( ) Fg. 4. voluton oto peed fo: Conventonal DC Pedctve DC-VM t() -IN: Volume, 5

10 WA RANACION on YM and CONROL abe Km, oufen Gdam, Abdellatf Mtbaa, Mohamed Faouz Mmoun tato flux (wb) t() tato Flux (Nm) t() Fg. 5. voluton of the eal tato flux fo: Conventonal DC Pedctve DC-VM Fg. 6. ajectoy of the extemty of the tato flux vecto fo: Conventonal DC, Pedctve DC-VM em (Nm) t() em (Nm) t() Fg. 7. lectomagnetc toque fo: Conventonal DC Pedctve DC-VM wth an MO acheved ung the XG at a low peed. he peed and flux efeence ued n the mulaton eult ae 5 ad/ and.9 wb, epectvely. At the tme t =.5ec, a load toque of 5 Nm appled. At t =ec, the tato etance nceae by %. tato etance (Ohm) tato flux (wb ) R machne R DC-VM t() tato etance (Ohm ) Obeved R Real R.5.5 t() Fg. 9. Vaaton of R fo Pedctve DC-VM wth: an open loop etmato, an MO t() tato flux (wb) t() Real tato flux Fg.. voluton of the tato flux fo Pedctve DC-VM wth: an open loop etmato, an MO tato cuent (A) tato cuent (A) Y=ph-beta -.5 Y t() t() Fg. 8. voluton of the tato cuent fo: Conventonal DC Pedctve DC- VM 6. etng the effectvene and pefomance of the pedctve DC-VM wth an MO he mulaton of the pedctve DC-VM wth an open loop etmato and the pedctve DC-VM X=ph-alpha X Fg.. ajectoy of the extemty of the tato flux vecto fo pedctve DC-VM wth: an open loop etmato, an MO e m (N m ) t() em (Nm ) t() -IN: Volume, 5

11 WA RANACION on YM and CONROL abe Km, oufen Gdam, Abdellatf Mtbaa, Mohamed Faouz Mmoun Fg.. tmated electomagnetc toque fo pedctve DC wth: an open loop etmato an MO We obtan n Fg. 4, Fg. 5, Fg. 6, Fg. 7 and Fg. 8 the evoluton of the mechancal peed, the tato flux magntude, the tato flux vecto tajectoy, the electomagnetc toque and the tato cuent, epectvely, fo both conventonal DC and pedctve DC-VM. hee eult how the effectvene of the pedctve DC-VM contol elatve to the conventonal DC contol n tem of pple n the tato flux and electomagnetc toque and n tem of dtoton n the tato cuent. In Fg. 9, the eal tato etance nceae by %. In Fg. 9a, we can ee that fo the pedctve DC-VM wth the open loop etmato the tato etance keep contant; wheea, n Fg. 9b fo the pedctve DC-VM wth an MO, the obeved tato etance nceae gadually to each the etance of the machne. heefoe, the MO can compenate the vaaton of the tato etance thank to t good pefomance and obutne. In Fg. a, at t = ec, the eal tato flux deceae and the eo between the eal flux and the efeence flux eman contant. Yet, n Fg.b, fo the pedctve DC-VM wth an MO, th eo gadually vanhe. In Fg. a, we can notce that the tato flux vecto tajectoy nceae due to the vaaton of the tato etance at t=ec. By contat, n Fg. b the tato flux tajectoy eman contant thank to the peence of the adaptve onlne mechanm of the tato etance ung the MO. In Fg. a, at t = ec, the electomagnetc toque nceae and the eo between the electomagnetc toque and the load toque eman contant. Howeve, n Fg. b, fo the MO, th eo vanhe quckly. Fg. 3 llutate the complete model of the DC-VM, whch cont of an nducton machne, an MO, a toque contolle, a popotonal ntegal contolle of peed, a calculato of the angle ϴ, a pedctve contolle, an VM block and a voltage ouce nvete. Fg. 3. Degn of the pedctve DC-VM wth an MO fom the XG 7 Implementaton Reult he egte tanfe level (RL) chematc of the pedctve DC-VM wth an MO n the Xlnx Integated ynthe nvonment (I).4 gven n Fg. 4. -IN: Volume, 5

12 WA RANACION on YM and CONROL abe Km, oufen Gdam, Abdellatf Mtbaa, Mohamed Faouz Mmoun able. Ued eouce Fg. 4. he chematc RL of the pedctve DC VM Ued 5µ DC Pedctve DC Numbe of bonded IOB Numbe of lce Numbe of lce LU ADC ex Numbe of DP48 4 he pefomance of the hadwae oluton baed on the FPGA n tem of executon tme hown n Fg. 5. able 3 peent the pefomance tme of the pedctve DC-VM wth an MO. t : Analogue to dgtal conveon tme. ADC able 3. xecuton tme ex Module xecuton tme (µ) Concoda.7 ldng Mode Obeve (MO).34 Pedctve contolle. VM.4 PI contolle.6 t pedctve _ DC MO = µ..4.6 =.93µ otal me: = t t total pedctve _ DC MO ADC (k) (k) (k) Fg. 5. mng dagam fo the mplementaton of the pedctve DC-VM wth an MO ung Xlnx Vtex-V FPGA wth an xc5vfx7t-3ff36 package Pape [],[3] and [4] peent the dgtal contol of nducton moto ung the dpac 4, n thee pape the amplng tme to µ, due to the equental poceng of the dpac. In pape [5], the executon tme of 3µ ung dpac. Ung the FPGA the executon tme of the contol algothm of nducton moto ( to µ). heefoe, the obtaned executon tme ung the FPGA fa lowe compaed to the oftwae oluton. In th pape the executon tme of the pedctve DC-VM wth the MO algothm of.93µ ung the Xlnx Vtex-V FPGA wth an xc5vfx7t-3ff36 package. -IN: Volume, 5

13 WA RANACION on YM and CONROL abe Km, oufen Gdam, Abdellatf Mtbaa, Mohamed Faouz Mmoun 8 Concluon In th pape, the dect toque contol of an nducton moto baed on the pace vecto modulaton, the pedctve contolle and the ldng mode obeve ha been developed. he hadwae achtectue of the pedctve DC-VM and the ldng mode obeve ung the Xlnx ytem geneato ae peented. he mulaton eult how the pefomance of the popoed contol tategy n tem of pple of the electomagnetc toque and the tato flux, dtoton of the tato cuent, and vaaton of the machne paamete. he VHDL code geneated and ynthezed. he mplementaton eult how the pefomance of the hadwae mplementaton n tem of degn tme whch educed, mnmal eouce utlzaton, and low executon tme. Paamete R R L L M J P V/U APPNDIX able 4. Moto paamete Value 5.77 Ω 4.8 Ω 464 mh 464 mh 44.7 mh.49 Kg.m².5 KW 3/4 V Refeence: [] A. V. Dehmukh, Mcocontolle, heoy and Applcaton, e. he Compane, Compute ngneeng ee. New Yok: Mac- Gaw-Hll, 7. [] P. Lapley, DP Poceo Fundamental: Achtectue and Featue. Pcataway, NJ: I Pe, 997. [3] W. H. Wolf, FPGA-Baed ytem Degn. nglewood Clff, NJ: Pentce-Hall, 4. [4] B. K. Boe, Moden powe electonc and AC dve, Conda Cha of xcellence n Powe lectonc, the Unvety of enneee, Knoxvlle.. [5] M.Depenbock, Dect elf-contol (DC) of nvete fed nducton machne, I anacton on Powe lectonc, Vol 3, N 4, 4-49, 988. [6]. Noguch, and I.akahah, Quck toque epone contol of an nducton moto baed on a new concept, (n Japanee), IJ ech. Meetng Rotatng Mach., RM 84 76, 6 7, 984. [7] I. akahah, and. Noguch, A new quckepone and hgh effcency Contol tategy of an nducton machne, I anacton Induty Applcaton, Vol.,N 5, 8 87, 986. [8] G.. Buja and M. P. Kazmekowk, Dect toque contol of PWM nvete-fed AC moto-a uvey, I anacton Induty lectonc., vol. 5, N. 4, pp , 4. [9] I. akahah, Y.Ohmo, Hgh-pefomance Dect oque Contol of an Inducton Moto, I anacton on Induty Applcaton, Vol. 5, N, pp , 989. [] R. Ramya, C. Abhjth,. Raju, DC AND IFOC: feablty analy on toque contol cheme of an nducton moto, Undegaduate Academc Reeach Jounal (UARJ), Vol., N 3, 4,. [] D.Caade, G. ea, K. an, Implementaton of a dect contol algothm fo nducton moto baed on dcete pace vecto modulaton, I anacton Powe lectonc,, vol. 5, N. 4, pp ,. [] Y.. La, J. H. Chen, A new appoach to dect toque contol of nducton moto dve fo contant nvete wtchng fequency and toque pple educton, I anacton negy Conv. vol. 6, N.3, pp. 7,. [3] M. Baut,. Bogoyan, M.Gokaan, peed enole dect toque contol of IM wth oto etance etmaton, Intenatonal Jounal negy Conv. and Manag, 46, N.3, pp , 5. [4] D. Caade, F. Pofumo, G. ea, A. an, FOC and DC: wo Vable cheme fo Inducton Moto oque Contol, I anacton on Powe lectonc, Vol. 7, N. 5, pp , ept.. [5]. Mezane, R. oufout and H. Benalla, peed enole Dect oque Contol and tato Retance tmato of Inducton Moto Baed MRA Method, Intenatonal Jounal of Appled ngneeng Reeach (IJAR ), Vol. 3, N 6, pp , 8. [6] M. Meaoud, H. Kaem, M. Ben Hamed, L. bta, and M. N. Abdelkm, A Robut enole Dect oque Contol of Inducton Moto Baed on MRA and xtended Kalman -IN: Volume, 5

14 WA RANACION on YM and CONROL abe Km, oufen Gdam, Abdellatf Mtbaa, Mohamed Faouz Mmoun Flte," Leonado Jounal of cence, Academc Dect ue. [7] Xlnx ytem Geneato v. fo mulnk Ue Gude Onlne. xlnx_ef_gude.pdf; [8] J.G. Malloux; Pototypage Rapde de la Commande Vectoelle u FPGA à l'ade de Outl IMULINK-YM GNRAOR, l Unveté de Québec, Ma 8 ; [9] Whte pape: Ung ytem Geneato fo ytematc HDL Degn, Vefcaton, and Valdaton WP83 (v.) Januay 7, 8. [] A. MAHFOUZ, W.M. MAMDOUH, Intellgent DC fo PWM Dve ung ANFI technque, Intenatonal Jounal of ngneeng cence and echnology(ij), Vol. 4,N. 3, pp 8-, Mach. [] Mua, GohhY, Matu K, Hoono I, Hgh fequency plt zeo-vecto PWM wth hamonc educton fo nducton moto dve. I an Ind Appl 8():5,99. [] Bhoopenda ngh, halenda Jan, and anjeet Dwved, Dect oque Contol Inducton Moto Dve wth Impoved Flux Repone. Hndaw Publhng Copoaton Advance n Powe lectonc, Atcle ID 76438, pp.-. Vol.. [3] LBACHA, Z. BOULGHAOUL and. LWARRAKI, A Compaatve tudy of Roto me Contant Onlne Identfcaton of an Inducton Moto Ung Hgh Gan Obeve and Fuzzy Compenato, WA RANACION on YM and CONROL, Vol 7, N, pp.37-53,. [4] Vojkan Kotć, Mlutn Petonjevć, Nebojša Mtovć, Bojan Bankovć, xpemental vefcaton of dect toque contol method fo electc dve applcaton, Automatc Contol and Robotc Vol. 8, No, pp. 6, 9. [5] M. Bouak and K. Jaay, A Hgh- Pefomance enole Indect tato Flux Oentaton Contol of Inducton Moto Dve. I anacton on ndutal electonc, Vol. 53, No., pp.4-49, 6. -IN: Volume, 5