Matteo Macchini

1. Motion control design for the new BWS Matteo Macchini Technical student BE-BI-BL Supervisor:Jonathan Emery Matteo Macchini Student meeting - May 2014

2. Outline • Beam Wire Scanner overview • Motor selection and sizing procedure • Motor control • Tuning of the controllers • Simulations Matteo Macchini Student meeting - May 2014

3. Beam Wire Scanner Purpose: Evaluate the profile of the beam into the accelerators Matteo Macchini Student meeting - May 2014

4. Beam Wire Scanner • Electromechanical system • Motor • Position/speed sensors • Thin wire • Scintillator • Photomultiplier Matteo Macchini Student meeting - May 2014

5. Desired wire motion • Three phases • “Constant” • acceleration • Constant speed(beam crossing) • “Constant” • deceleration Matteo Macchini Student meeting - May 2014

6. Motor selection and sizing Specifications •Air-gap thickness • Torque to inertia ratio • Vacuum compatibility • Radiation tolerance • Temperature tolerance • Torque ripple Matteo Macchini Student meeting - May 2014

7. Permanent Magnet Synchronous Motor Model:PARKEM k500300-5Y Air gap thickness: 0.3mm ÷ 0.75mm Inertia: 0.00104kg*m2 Max torque: 32.8Nm Matteo Macchini Student meeting - May 2014

8. PMSM input • Three phase sine wave • Flux = LC of the 3ph fluxes • Motion is achieved keeping • the flux spin • Torque = k*(Flux)x(Theta) • So MAX torque ↔ Flux ⊥ Theta Matteo Macchini Student meeting - May 2014

9. Clarke – Park decomposition Three phase static ↕ CLARKE ↕ Two phase static ↕ PARK ↕ Two phase rotating Matteo Macchini Student meeting - May 2014

10. Simulated system Overall system Simplified system Matteo Macchini Student meeting - May 2014

11. Motor control Control method • T = k*iq (if id=0) • Double feedback control • Current • Quadriture (αT) • Direct (αF) • Speed • Space Vector Modulation • FOC – Field Oriented Control Controllers Matteo Macchini Student meeting - May 2014

12. PID controllers Matteo Macchini Student meeting - May 2014

13. PID controllers y e u r + PID(s) G(s) - Matteo Macchini Student meeting - May 2014

14. PID tuning THEORETICAL APPROACHES Transfer function computation and simulation Pole-zero compensation … unpopular and not very efficient Matteo Macchini Student meeting - May 2014

15. PI control and tuning • EXPERIMENTAL APPROACHES • Open loop methods • Ziegler-Nichols • Cohen-Coon • Cooper • Closed loop methods • Z-N closed loop • ATV • Adaptive methods • PSO • “Modern” methods • H∞ controller • H2controller • μ controller Matteo Macchini Student meeting - May 2014

16. Particle Swarm Optimization Particle filter based on the behaviour of swarms of birds Looking for MIN of a quality function (IAE) Parametric optimization in order to follow local-global optimums Matteo Macchini Student meeting - May 2014

17. Results classic tuning (so far…) Current loop Speed loop Matteo Macchini Student meeting - May 2014

18. Results PSO (so far…) Current loop i=1 i=7 i=4 i=10 Speed loop i=1 i=7 i=10 i=4 Matteo Macchini Student meeting - May 2014

19. In the future… • NEXT GOALS • Space Vector PWM implementation • Position loop • Complete system simulation • See what happens with the real system! Matteo Macchini Student meeting - May 2014