1 Motion control implementation and validation for high precision, highly reliable moveable devicesJorge Sola Merino (EN-STI-ECE) Supervisors: Mark Butcher & Ricardo Picatoste

2 Outline Project Background Current state & achievements Future WorkMotor Drive Control Architecture Resolver to Encoder Converter Stepper Motor Drive Future Work 29/11/2016

3 Project background Objective: Problems: Solution:Improve control of stepper motors for collimators and targets Problems: Current solution works in open position loop Highly radioactive environment Long cables Limited diagnostics Solution: Upgrade current drives to a full custom drive 29/11/2016

4 Project background 13/06/2017

5 Project background 29/11/2016

6 Project background 29/11/2016

7 Motor Drive Control ArchitectureWith current drive Motor Drive Control(MDC) PXI Step Drive Stepper Motor Long cables Voltage Direction Excitation Resolver Secondaries (Position info) * Not all signals and blocks displayed for simplicity 13/06/2017

8 Motor Drive Control ArchitectureTo close the loop the drive must know the position of the motor. What is a resolver?: Rotary electrical transformer used for measuring position. The amplitudes of the secondary signals are modulated by the position of the rotor. Why resolver?: Robust and radiation hard. Analog signal: Requires conversion to digital signal, typically, incremental encoder signal. Solution: Design a ‘resolver to encoder converter’ device. 13/06/2017

9 Motor Drive Control ArchitectureWith current drive Motor Drive Control(MDC) PXI Step Drive Stepper Motor Long cables Voltage Direction Excitation Resolver Secondaries (Position info) * Not all signals and blocks displayed for simplicity 13/06/2017

10 Motor Drive Control ArchitectureWith new drive Motor Drive Control(MDC) PXI Step Drive Stepper Motor Long cables Voltage Direction Encoder Resolver to Encoder converter Excitation Resolver Secondaries * Not all signals and blocks displayed for simplicity 13/06/2017

11 Resolver to encoder converterMy tasks: Characterize the chip (AD2S1210 by Analog Devices) Understand how it works and help in the schematics design Test the developed boards Some features: 16 bit resolution 4 channels Hardware error detection 29/11/2016

12 Stepper motor drive Tasks: Firmware development Code optimizationUnit testing Adding features Upgrade firmware via serial port Profiling mode Post mortem acquisition 29/11/2016

13 Stepper motor drive Tasks: Commissioning of drives and R2E converters:LHC goniometers NA targets (T2, T4, T6 & T10) 29/11/2016

14 Future work Implementation of Extended Kalman FilterExtending Unit Testing to all the code Test new version of the R2E converter Knowledge transfer with SHS Developing a new branch of code for PMSM motors 29/11/2016

15 Thank you for your attention.Questions?