## Further results on Modeling, Integrated Design and Simulation of a Mechatronic System with FPGA Control

1. Mihailo Lazarevic, Mašinski fakultet Univerziteta u Beogradu, Serbia

The basic idea of modeling, integrated design and simulation of mechatronic product is to combine benefits of the mechanical multibody system model with the features of advanced drive and control. Such unified mathematical model would enable the product designer faster, rational and reliable design of mechatronic product. By the designing the mechatronic system, one of the main goals is to find a more efficient and simple way to automatically use differential equations of mechatronic system's motion and parametric simulation (e.g. washing machine with/out cabinet). Multibody system dynamics are obtained using modified symbolic Lagrange equations in a covariant way and differential equations of the motion written down applying the Rodrigues method. To obtaining symbolical form of dynamic model of mechatronic system it is used a modified symbolic Lagrange equations in a covariant way where differential equations of the motion for a given mechanical system are written down applying the Rodrigues method. Due to the analytical expressions of the proposed Rodrigues approach, we can change one system’s parameter and then easily obtain a new expression. Also, the speed of the drive motor is adjustable with a (laundry drum rounds-per-minute) control circuit and is determinable in accordance with set-point and actual rpm values. Here, the proposed drives, Permanent Magnet Synchronous Motor (PMSM) and Brushless direct drive (BDD) motors are now widely used industrial drive application due to it's many advantages such as high power factor, high torque density, etc. In this paper it will be presented a novel means of designing a simple and effective torque control for PMSM/BDD. The proposed approach is based on fast parallel processing and suitable for a Field Programmable Gate Array (FPGA) implementation. The FPGA based direct torque control (DTC) PMSM/BDD system is meant to be operated according to certain established rules and principles, as infinite state machine (ISM) in three domain principle and it would be possible to reproduce near ideal switching mode process. Finally, the effectiveness of suggested control is demonstrated on proposed mechatronic system - washing machine.

Ključne reči :

Tematska oblast: Mehatronika