Saab AB Training & Simulation is specialized on military training, including laserbased training. To continue being the world leader in this area, a new generationof laser simulators needs to be developed. To simplify the development of thishighly complex system, this master thesis have resulted in a MATLAB/Simulinkmodel which simulates the electro-opto/mechanical system representing theirlaser based simulation platform. The focus of this master thesis has been to simulateand control the laser beam deflection. To be more precise, the motors usedto rotate the Risley-prisms deflecting the laser beam is modelled. With a goodmodel of the motors, a control system is applied steering the wedges to a referencerotation angle. The reference rotation angle is difficult to calculate though,since the deflection following several rotary wedges is severely nonlinear. Thereare many ways to calculate the rotation angles, but in this master thesis it will bedone by solving optimization problems in MATLAB. / Saab AB Training & Simulation är specialiserade på militär träning, bland annatbaserad på laser och för att fortsätta vara världsledande inom detta områdekrävs utveckling av en ny generation lasersimulatorer. För att underlätta utvecklingsarbetetav detta högst komplexa system, har i detta examensarbete en simulerbarmodell skapats i MATLAB/Simulink för att kunna simulera det elektroopto/mekaniska system som beskriver deras laserbaserade simulatorplattform.Fokus för detta examensarbete har varit att modellera avlänkningen. Mer ingåendeså modelleras de motorer som används för att rotera Risley-prisman så atten laserstråle uppnår önskad avlänkning. Med en bra modell av motorerna applicerasett reglersystem som styr de roterbara kilarna till referensposition. Referenspositionenär dock komplicerad att beräkna eftersom avlänkningen frånflera roterande kilar beter sig högst olinjärt. För att göra detta finns flera tillvägagångssätt,men i detta examensarbete kommer det att göras genom att lösaoptimeringsproblem i MATLAB.

Saab has an analogue solution which is used to drive small motors in aircrafts. The motor is a brushless DC-motor and uses a resolver and hall sensors to control it. As sensorless control is something that has been expanding and attracting more interest over the last decade, Saab is considering the possibility of using a digital sensorless system depending on its performance on the control compared to their analogue system. There is little documentation of performance for a digital sensorless solution compared to an analogue solution. Therefore the question to be answered in this research is: How is the performance of the digital solution compared to the existing analogue solution? It was answered by finding a complete sensorless system on the market and then compare its performance to a digital system with sensors that resembles the analogue solution. Performance wise, InstaSPIN does not perform as well as EPOS2 which represent the sensorless system respective the system with sensors. InstaSPIN needs a startup sequence, can not run at the same low velocities, has a longer rise time, settling time and greater ripple. An examination of the software should be done before using the disadvantages that was found as a reason for not considering a sensorless system. Especially the startup sequence in the software should be examined as it is InstaSPINs greatest weakness compared to EPOS2. / Saab använder idag ett analogt system för att driva små motorer i deras flygfarkoster. Det analoga systemet använder en borstlös DC-motor och en resolver för styrning av motorn. Motorstyrning med system som är oberoende av givare är ett område som vuxit och fått ett ökat intresse det senaste decenniet. Saab överväger möjligheten att använda ett givarlöst digitalt system beroende på dess styrprestanda jämfört med deras analoga system. Eftersom det finns lite dokumentation om prestandan så är frågan som ska besvaras i denna rapport: Hur förhåller sig det givarlösa digitala systemet prestandamässigt jämfört med det existerande analoga systemet? Detta besvarades genom att leta upp ett komplett system på marknaden och sedan jämföra dess prestanda mot ett digitalt system som liknar det analoga systemet.  Prestandamässigt så fungerar InstaSPIN som representerar det givarlösa systemet inte lika effektivt som EPOS2 som representerar systemet som använder givare. Nackdelarna med InstaSPIN är att den behöver en startsekvens, inte kan köra på lika låga hastigheter, har längre stigtid, insvängningstid och större rippel. Man bör undersöka mjukvaran innan nackdelarna används som en anledning till att inte använda ett givarlöst system. Speciellt startsekvensen bör undersökas eftersom det är IntaSPINs största svaghet jämfört mot EPOS2.

The thesis deals with the description of PMSM and BLDC motors as well as the way of their control. In addition, the thesis deals with the description of the instruments of National Instruments, DAQ, CompactRIO and PXI. The details of the user module's production in the CompactRIO device, both hardware and software, are specified in the paper. The following is a description of the proposed CompactRIO module.

The automobile industry is moving fast towards Electric Vehicles (EV); however this paradigm shift is currently making its smooth transition through the phase of Hybrid Electric Vehicles. There is an ever-growing need for integration of hybrid energy sources especially for vehicular applications. Different energy sources such as batteries, ultra-capacitors, fuel cells etc. are available. Usage of these varied energy sources alone or together in different combinations in automobiles requires advanced power electronic circuits and control methodologies. An exhaustive literature survey has been carried out to study the power electronic converter, switching modulation strategy to be employed and the particular machine to be used in an EV. Adequate amount of effort has been put into designing the vehicle specifications. Owing to stronger demand for higher performance and torque response in an EV, the Permanent Magnet Synchronous Machine has been favored over the traditional Induction Machine. The aim of this thesis is to demonstrate the use of a multi level inverter fed Brush Less Direct Current (BLDC) motor in a field oriented control fashion in an EV and make it follow a given drive cycle. The switching operation and control of a multi level inverter for specific power level and desired performance characteristics is investigated. The EV has been designed from scratch taking into consideration the various factors such as mass, coefficients of aerodynamic drag and air friction, tire radius etc. The design parameters are meant to meet the requirements of a commercial car. The various advantages of a multi level inverter fed PMSM have been demonstrated and an exhaustive performance evaluation has been done. The investigation is done by testing the designed system on a standard drive cycle, New York urban driving cycle. This highly transient driving cycle is particularly used because it provides rapidly changing acceleration and deceleration curves. Furthermore, the evaluation of the system under fault conditions is also done. It is demonstrated that the system is stable and has a ride-through capability under different fault conditions. The simulations have been carried out in MATLAB and Simulink, while some preliminary studies involving switching losses of the converter were done in PSIM.

Η παρούσα διπλωματική εργασία πραγματεύεται την μελέτη, το σχεδιασμό και την κατασκευή κυκλώματος οδήγησης κινητήρα τύπου DC Brushless. Η εργασία αυτή εκπονήθηκε στο Εργαστήριο Ηλεκτρομηχανικής Μετατροπής Ενέργειας του Τμήματος Ηλεκτρολόγων Μηχανικών και Τεχνολογίας Υπολογιστών της Πολυτεχνικής Σχολής του Πανεπιστημίου Πατρών. Η οδήγηση του κινητήρα τύπου DC Brushless γίνεται ηλεκτρονικά με τη χρήση τριφασικού αντιστροφέα ισχύος. Σκοπός λοιπόν της παρούσας εργασίας είναι η κατασκευή του παραπάνω κυκλώματος. Ο κινητήρας τύπου DC Brushless είναι Σύγχρονος Κινητήρας Μόνιμου Μαγνήτη, επομένως το πρώτο που πραγματεύεται η διπλωματική εργασία είναι ο ορισμός κάποιων θεμελιωδών ιδιοτήτων του μαγνητικού πεδίου, και η μελέτη των χαρακτηριστικών των μαγνητικών υλικών που χρησιμοποιούνται σε αυτού του τύπου τις μηχανές. Στη συνέχεια μελετώνται οι Σύγχρονοι Κινητήρες Μόνιμου Μαγνήτη τραπεζοειδούς και ημιτονοειδούς παλμού ως προς τα κατασκευαστικά τους χαρακτηριστικά και την αρχή λειτουργίας τους. Παρατίθενται επίσης τα πλεονεκτήματα και μειονεκτήματά τους σε σχέση με άλλους τύπους μηχανών και αναφέρονται κάποια πεδία στα οποία οι κινητήρες αυτοί βρίσκουν εφαρμογές. Ακόμα καταγράφονται λεπτομερώς οι μαθηματικές εξισώσεις λειτουργίας τους καθώς και η χαρακτηριστική ροπής ταχύτητας. Στο επόμενο βήμα γίνεται μια θεωρητική ανάλυση του κυκλώματος του μετατροπέα που κατασκευάστηκε καθώς και όλων των υπόλοιπων κυκλωμάτων και στοιχείων που είναι αναγκαία για την λειτουργία του. Επιπροσθέτως, αναλύεται η μέθοδος παλμοδότησης των διακοπτικών στοιχείων του μετατροπέα, που είναι η Διαμόρφωση Εύρους Παλμών (PWM) και κατόπιν περιγράφεται αναλυτικά η κατασκευή και η υλοποίηση των παραπάνω κυκλωμάτων. Η παρούσα διπλωματική εργασία προχωράει με την περιγραφή των ιδιοτήτων του μικροελεγκτή που χρησιμοποιήθηκε και την ανάλυση της παλμοδότησης του αντιστροφέα. Τέλος, ολοκληρώνεται με την παράθεση και το σχολιασμό των παλμογραφημάτων που προέκυψαν μετά την ολοκλήρωση της κατασκευής . / This diploma thesis deals with the study, design and construction of a converter topology for a DC Brushless motor drives. The project was conducted at the Laboratory of Electromechanical Energy Conversion of the Department of Electrical and Computer Engineering of School of Engineerings, of University of Patras. Three-Phase DC Brushless motors are known to be controlled electronically using three-phase voltage inverter. Therefore, the aim of this paper is to construct this circuit. DC Brushless motors are Synchronous Permanent Magnet Motors so that the first thing we deal with in this diploma thesis is the definition of some fundamental properties of the magnetic field and the study of the characteristics of magnetic materials used in this type of motors. Then we examine the synchronous permanent magnet motors with trapezoidal and sinusoidal supply on the construction characteristics and the principle of operation. We also list some of their the advantages and disadvantages compared with other types of motors and mention some areas where these motors are finding application. We also record in detail the mathematical equations of operation and the torque-speed characteristics. The next step is a theoretical analysis of the circuit of the converter that was constructed and of all the other circuits and components necessary for its operation. Furthermore, we describe the method of pulse generation which is Pulse Width Modulation (PWM) and then we describe in detail the construction and implementation of these circuits. This essay goes on to analyze the properties of the microcontroller used and finally, it concludes with oscillograph figures and measurements, occurred from the experiments transacted after the finalization of the construction.

The thesis deals in the control of the BLDC motor. At first, there is a brief introduction of BLDC motor, in the next chapters are explained possible methods of control. The next part of the thesis deals with the platform STM32, on which the control algorithm is implemented. For the thesis a program for sensor and sensorless control of BLDC motor has been created. In the conclusion, the process of voltage and current has been measured, using the created algorithm.

The goal of this work is modelling and design of an inverted pendulum prototype. The work presents a mathematical model of a rotary pendulum, modelling of a BLDC motors and also a 3D model of the pendulum prototype is present. The work mentions design of the state space controller and swing up control of the inverted pendulum. Dynamics obtained from the mathematical model is used to create a 3D dynamic model of a pendulum, with the use of the Simscape toolbox. The work deals with control of a BLDC motors with use of vector control. The algorithm is implemented on the CompactRIO platform. Later, hardware is developed, containing STMicroelectronis microcontroller, capable of replacing the CompactRIO platform.

The diploma thesis is focused on comparison of sensored and sensorless control of 3phase BLDC motor. This diploma thesis was compiled with engineers from Honeywell, spol. s r. o. and NXP Semiconductors comapny. Theoretical part of the diploma thesis is describing princip of function BLDC motor and different methods of control. The testing of NXP sensored and sensorless application is done in the practical part. Regarding to the fact, that applications were provided by NXP, furthemore the diploma thesis additionally contains a state machine using sensorless application from NXP. Finally, the author is evaluating a cooperation with NXP company and he thinks about next possible cooperation.

This work is focused on the design of the peristaltic pump drive for medical purposes. Its initial goal is closer introduction of peristaltic pumps and stepper motors. Then the design of BLDC motor will be made and the use of this motor will be compared with stepper motor. Design of the BLDC motor will be made using RMxprt. Last but not least simulations of both types of motors for the peristaltic pump will be created in Simplorer. Finally, the program LabVIEW will be introduced and a program for controlling a stepper motor will be created.

In the context of this master’s thesis are solved algorithms and hardware for control BLDC motor. The first was designed algorithm in LabView called "six-step". This algorithm causes a torque ripple, so in the final version was used vector control. It is a sensor control, so was necessary to design a measurement of rotor position. It was solved using a magnetic position sensor. After testing the control algorithm was designed my own hardware for control the BLDC motor. The main control unit was chosen microprocessor MC56F82743, which is designed specifically for BLDC motor control. The microprocessor was programmed in the CodeWarrior development environment, using a JTAF and USB-TAP.