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Fig. 1. Hardware-in-the-loop block diagram The system control block diagrams based on HIL are shown in Fig. 1. Here the PID controller is a virtual block that controls a real system

Figure 1 Hardware-in-the-loop block diagram The system control block diagrams based on HIL are shown in Fig. 1. Here the PID controller is a virtual block that controls a real system

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5.1 On-line Identification . The equations governing the induction motor are nonlinear and can be divided into three parts: electrical, mechanical, and electro-mechanical[13]. The following equations represent the electrical dynamic equations,
5.1 On-line Identification . The equations governing the induction motor are nonlinear and can be divided into three parts: electrical, mechanical, and electro-mechanical[13]. The following equations represent the electrical dynamic equations,
Table (1): Poles and zeros of the identified system
Table (1): Poles and zeros of the identified system
Fig. 3. Step response of the identified model vs the real system Once the transfer function was identified (see Table (1) for poles/zeros locations), its behavior to different inputs was compared to the real system response. Fig. 3 shows a comparison between the response of the identified model and the real system to a step input. This in turn, verifies the accuracy of the identified transfer function and therefore its validity to predict the motor behavior.
Fig. 3. Step response of the identified model vs the real system Once the transfer function was identified (see Table (1) for poles/zeros locations), its behavior to different inputs was compared to the real system response. Fig. 3 shows a comparison between the response of the identified model and the real system to a step input. This in turn, verifies the accuracy of the identified transfer function and therefore its validity to predict the motor behavior.
sufficient enough, and therefore was used throughout this paper. Details can be found in [9].
sufficient enough, and therefore was used throughout this paper. Details can be found in [9].
Fig. 5. Simulink block diagram for induction motor online control Once the controller was optimized on the identified model, it was then applied to the real system through Real Time Windows Target within Simulink as shown in Fig. 5 and according to the experimental setup explained in section 2. The speed response of the real system is shown in Fig. 6 (Note that the speed is given in volts and the corresponding rpm is 0.9mv/rpm). The real system response validates the proposed “identification and control” strategy used since the controller that was tuned offline was successfully applied to the real system.
Fig. 5. Simulink block diagram for induction motor online control Once the controller was optimized on the identified model, it was then applied to the real system through Real Time Windows Target within Simulink as shown in Fig. 5 and according to the experimental setup explained in section 2. The speed response of the real system is shown in Fig. 6 (Note that the speed is given in volts and the corresponding rpm is 0.9mv/rpm). The real system response validates the proposed “identification and control” strategy used since the controller that was tuned offline was successfully applied to the real system.
Fig. 4. Identified model response with off-line control to a trapezoidal speed profile The identified model was used within Simulink to adopt and tune appropriate controller. In this work, PID controller was used with parameters P=3.68, I=0.02, D=0, and velocity feedback, k,, of 0.55. The controlled speed response of the identified model to a trapezoidal speed profile is given in Fig. 4 which shows that the controller was able to follow the desired profile.
Fig. 4. Identified model response with off-line control to a trapezoidal speed profile The identified model was used within Simulink to adopt and tune appropriate controller. In this work, PID controller was used with parameters P=3.68, I=0.02, D=0, and velocity feedback, k,, of 0.55. The controlled speed response of the identified model to a trapezoidal speed profile is given in Fig. 4 which shows that the controller was able to follow the desired profile.
Proceeding of the 6" International Symposium on Mechatronics and its Applications (ISMA09), Sharjah, UAE, March 24-26, 2009 To further test the adopted controller, a different input profile was applied to the real system. Again the controller succeeded in following the desired speed profile as shown in Fig. 7.
Proceeding of the 6" International Symposium on Mechatronics and its Applications (ISMA09), Sharjah, UAE, March 24-26, 2009 To further test the adopted controller, a different input profile was applied to the real system. Again the controller succeeded in following the desired speed profile as shown in Fig. 7.
Fig. 7. Real system response to a multi trapezoidal speed profile
Fig. 7. Real system response to a multi trapezoidal speed profile
Related topics:
System IdentificationController DesignHardware In The LoopInduction MotorDifference Equations
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