The mechatronics workstation is an integrated system built for the sole purpose of testing control algorithms on a variety of electromechanical systems. The workstation is based on the Texas Instruments TMS320C30 floating point processor capable of operating at 33M flops. A 66 MHz 486DX2 host computer is used to provide for data transfer, display purposes and to provide a Windows based user interface. Data communication to and from the mechatronics workstation is handled by ADC's and DACs on the C30 board. The position information from a differential encoder or resolver based differential encoder signal is read through the IMI DS2 board which outputs a digital signal proportional to the rotor position. The signal is then converted to radian measure so that it can directly be used for position information in the control algorithm.
The output of the control algorithm written in C programming language are the digital values of the phase voltages that are to be applied to the motor terminals. To convert this digital number into a physical motor input we make use of the DACs. With appropriate scaling, the digital output of the software program is converted to a motor terminal voltage by Techron 7571 power amplifiers, which can provide 2000Watts at 100V. A mechatronics interface box provides the scaling required between the C30/DS2 and the outside world. The interface box also has the capability of providing the phase current measurement for use in the control. These sensors can provide voltage outputs proportional to the current through them.
The workstation has been invaluable in implementing complex nonlinear controllers on various electromechanical devices. To view an animated block diagram of the mechatronic workstation please click below.
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The Mechatronics Workstation