Further results on modeling, integrated design and simulation of a mechatronic system with FPGA

Abstract

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. The starting point for multiphysics modeling and simulation is multibody system dynamics with the practical case – washing machine. The motion equations are obtained using modified symbolic Lagrange equations in a covariant way, applying the Rodrigues method. In this paper it will be presented a novel means of designing a simple and effective torque control for PMSM based on the Field Programmable Gate Array (FPGA) technology. Finally, the effectiveness of both suggested approaches is is demonstrated on mechatronic system simulation (e.g. co-simulation approach) on planar washing machine model. There are given also practical hints for promising hardware-in-loop simulation for experimental evaluation.