A Kalman Filter Based, Sensorless Stepping Motor Driver for Positioning Systems in Radioactive Environments.
Event details
| Date | 06.05.2011 |
| Hour | 10:15 |
| Speaker | Dr. M. Butcher, European Organization for Nuclear Research (CERN), Geneva, Switzerland. |
| Location |
MEC2405
|
| Category | Conferences - Seminars |
The Equipment, Controls and Electronics (ECE) section of the EN-STI group at CERN is responsible for the design, installation and maintenance of high precision control systems for movable devices (e.g. scrapers, collimators, shielding and targets) in highly radioactive environments, as found in CERN’s particle accelerators. Motor drive electronics are damaged by high levels of radiation and must therefore be placed in radiation-safe zones, up to 1 km from the motors. The ECE section is thus currently developing a sensorless PWM stepping motor driver that is able to ensure high positioning repeatability and low Electro-Magnetic Interference (EMI) when driving a motor via long cables. High positioning repeatability of the motors can be achieved using feedback control based on the motor’s position. However, in order to increase driver robustness and reliability, a sensorless approach, i.e. without direct position measurement, is desirable. An Extended Kalman filter based method has been selected for its combination of rigorous theoretical foundations and proven effectiveness in application. In this talk the design of the estimation algorithm, its real-time implementation on an industrial DSP and the proposed Kalman filter tuning approach will be presented.
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