In this paper we propose a Hardware-in-the-Loop (HIL) approach to implement a preliminary architecture for force-feedback control in steer-by-wire (SBW) applications. A brushless motor is used as force feedback actuator. The determination of the position of the rotor plays a key role in the control algorithm.To obtain a reliable rotor position a hybrid redundancy has been implemented. The position signals of the encoder integrated on the motor are computed in three different ways: using a 8-bit microcontroller, a 16-bit microcontroller, and, last, using a FPGA. A virtual hardware platform operates as voter. The position estimated by the voter is used by the 16-bit platform to generate the PWM signals needed to control the motor.The voter executes a simple self diagnostic process, too and in case of failure in more than one module performs a reconfigurations of the system and the position estimated by a fourth back-up module is used by the 16-bit microcontroller to implement the motor control algorithm.In particular, the results of Hardware-in-the-Loop experiments show as using a redundant architecture like the one proposed in this paper, it is possible to control the motor in order to recreate on a steering wheel (directly connected to the motor) a drive feeling like the one produced by a traditional steering system also in case of failure in one, or more than one module, of the system.
|Data di pubblicazione:||2005|
|Titolo:||Control of Brushless Motor with Hybrid Redundancy for Force Feedback in Steer-by-Wire Applications|
|Autori:||Bertacchini, Alessandro; Tamagnini, Luca; L., Fergnani; Pavan, Paolo|
|Data del convegno:||November 6-10|
|Nome del convegno:||IECON05 - 31st Annual Conference of the IEEE Industrial Engineering Society|
|Luogo del convegno:||Raleigh, North Carolina, USA|
|Titolo del libro:||Proceedings of 31st Annual Conference of the IEEE Industrial Engineering Society|
|Appare nelle tipologie:||Relazione in Atti di Convegno|
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