Tham khảo tài liệu 'sliding mode control part 7', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Sliding Mode Position Controller for a Linear Switched Reluctance Actuator 199 5. Development of the controller firmware To verify the applicability of the here proposed control methodology an experimental setup was constructed based on the TMS320F2812 eZdsp Start Kit. Event Manager EVA is used to generate the PWM signals from where the Current Reference signals are obtained. Each current phase signal is acquired by the on-chip ADC and saved in a buffer memory. At this moment current phase information is not used by the controller. Actuator position is feedback to the TMS320F2812 QEP Unit by the incremental encoder. From the Quadrature Encoder Pulse QEP unit data actuator velocity and position are derived. The sliding mode controller establishes the switching strategy used to turn-on and turn-off the LSRA phases. Using Microcontroller GPIO each phase signal lines T1 and T2 are properly switched. Data lines shared between the eZdsp and the LSRA regulation electronics are represented in Fig. 16a . eZdsp a b Fig. 16. a eZdsp interface with LSRA electronic regulation and b TMS320F2812 code flow. Developed code to the TMS320F2812 implements the control methodology previously described. The most important software blocks are represented at Fig. 16b . Software begins with the configuration of each peripheral and before enter in a wait state activates the CPU Timer 0 interrupt. This interrupt possess an ISR that based in QEP information determines the actuator position and based on it the corresponding position error and derivative position error. For each CPU Timer 0 interrupt a service routine is executed. The information needed to realize the control procedure is obtained. Based on it the control action is derived and applied to the proper phase as specified in the lookup table. Status system information position and phase current is saved in memory. After the operation action the functionalities of Code Composer Studio are used to collect the results from the .
