FPGA-based Motor Control
As a result of the technological progress in the field of integrated circuits the density of logic functions on a chip has increased enormously, whereas the cost of reprogrammable logic has reduced drastically. Hence, FPGAs (Field Programmable Gate Areas) become more and more attractive in the field of drive controls. Furthermore FPGAs provide several advantages compared to state of the art processor-based controls, namely:
- True parallel processing
- Fast processing (in the range of nanoseconds)
- Typical computational delay of 100 ns
- Greater flexibility from the logic complexity and development point of view
- The bit width can be specified individually for each signal, thus the required numeric accuracy can be achieved by an appropriate design
Traditionally, the inner current control loop of a cascaded AC-motor control structure (e.g. Field Oriented Control) is realized on a DSP or microcontroller (µC) utilizing the well-known regular sampling technique. In regular sampling the acquisition of measured data and the controller execution is synchronized with the triangular pulse width modulation (PWM) carrier. Thus, the controller sampling frequency fC can be same or twice the PWM frequency fs as shown in Figure 1.
The sequential execution of the control algorithm on processor-based controls implies a total dead time TΣ of 1.5*TC (due to the computational delay of one sampling step TC and additional delay of 0.5*TC caused by the data acquisition mechanism). This additional delay has to be considered in the controller design and is typically approximated using a first order lag element with the time delay TΣ. It can be shown that the bandwidth of the closed loop transfer function of the system is inversely proportional to the dead time TΣ. For standard drives the achievable bandwidth of processor-based controls may be sufficient, but for high performance servo drives it is just insufficient. The poor achievable bandwidth directly results in low dynamics. This problem can be overcome by reducing the total dead time of the closed loop transfer function.
Before microcontrollers came up the control realization was based on analog circuits. Such an analog realization does not introduce any dead time in the system, so that the achievable bandwidth is quite high, theoretically even infinite. However the analog realization has its own drawbacks, which are offset, nonlinearity, drift, nonchangeable control parameters, etc. Therefore the goal is to achieve the same performance in the digital domain but avoiding these drawbacks.
A control realization based on FPGA currently seems to be the best approach to achieve a performance that is very close to analog controls on a digital platform. The resulting controls can be referred to as quasi-continuous control realizations. The possibility of parallel execution also enables the handling and implementation of multiple/ complex control schemes on a single control platform. Thus, it is possible to realize a dynamically reconfigurable control structure as shown in Figure 2. The relevant trajectories during transition between a FOC and DTC control structure on a testbench are depicted in Figure 3.
The concept of reconfigurable control is expected to achieve a control performance close to the respective optimum in the entire operation area while providing a certain degree of fault tolerance with respect to sensor failures. In addition to the technical goals, the research work is also focused on the general understanding and methodology of reconfigurable control systems and the usage of FPGAs in the domain of electrical drives control. Also, efficient realizations of data acquisition mechanisms based on Δ∑-ADC are investigated. The advantages of Δ∑-ADCs lie in the possibility to scale the resolution at the cost of computation time and the ease to incorporate galvanic isolation. In Figure 4, the structure of the mentioned Δ∑-ADC is shown along with some measured current signals which are gained at different decimation rates D.
References:
[1] | S. Mathapati FPGA-Based High Performance AC Drive Universität Paderborn, Germany, 2011 |
[2] | S. Mathapati, J. Böcker Dynamically Reconfigurable Control Structure for Induction Motor Drives on FPGA Control Platform EPE Journal, Vol. 20-1, 2010 |
[3] | C. Paiz, J. Hagemeyer, C. Pohl, M. Porrmann, U. Rückert, B. Schulz, W. Peters, J. Böcker FPGA-based realization of self-optimizing drive-controllers 35th Annual Conference of IEEE, Industrial Electronics, 2009 (IECON) vol., no., pp.2848-2853, 3-5 Nov. 2009, Porto, Portugal |
[4] | W. Peters, B. Schulz, S. Mathapati, J. Böcker Regular-Sampled Current Measurement in AC Drives Using Delta-Sigma Modulators 13th European Conference on Power Electronics and Applications (EPE2009), Barcelona, Spain, 2009 |
[5] | B. Schulz, C. Paiz, J. Hagemeyer, S. Mathapati, M. Porrmann, J. Böcker Run-Time Reconfiguration of FPGA-Based Drive Controllers 12th European Power Electronics and Adjustable Speed Drives Conference, Aalborg, Denmark, 2007 |
Contact:
Dr.-Ing. Oliver Wallscheid

Leistungselektronik und Elektrische Antriebstechnik (LEA)
Oberingenieur - Mitarbeiter - Leitung Fachgruppe Elektrische Antriebstechnik & Intelligente Energiesysteme
Terminvereinbarung
33098 Paderborn
Liste im Research Information System öffnen
2023
S. Peitz, J. Stenner, V. Chidananda, O. Wallscheid, S.L. Brunton, K. Taira, in: arXiv:2301.10737, 2023
A. Brosch, O. Wallscheid, J. Böcker, IEEE Transactions on Power Electronics (2023), pp. 1-14
2022
N. Förster, P. Rehlaender, O. Wallscheid, F. Schafmeister, J. Böcker, in: Proc. 37th IEEE Applied Power Electronics Conference (APEC), IEEE, 2022
A. Brosch, O. Wallscheid, J. Böcker, IEEE Transactions on Power Electronics (2022)
A. Brosch, O. Wallscheid, J. Böcker, IEEE Transactions on Power Electronics (2022)
J. Lange, D. Schmies, K.S.C. Stille, J. Böcker, O. Wallscheid, in: EPE'22 ECCE Europe, IEEE, 2022
M. Stender, M. Becker, O. Wallscheid, J. Böcker, in: 48th Annual Conference of the Industrial Electronics Society (IECON), 2022
N. Förster, P. Rehlaender, O. Wallscheid, F. Schafmeister, J. Böcker, in: 2022 IEEE Applied Power Electronics Conference and Exposition (APEC), IEEE, 2022
N. Förster, T. Piepenbrock, P. Rehlaender, O. Wallscheid, F. Schafmeister, J. Böcker, in: PCIM Europe 2022; International Exhibition and Conference for Power Electronics, Intelligent Motion, Renewable Energy and Energy Management, 2022, pp. 1-10
B. Haucke-Korber, M. Schenke, O. Wallscheid, in: IKMT 2022; 13. GMM/ETG-Symposium, 2022, pp. 1-6
W. Kirchgässner, O. Wallscheid, J. Böcker, Engineering Applications of Artificial Intelligence (2022), 117, 105537
W. Kirchgässner, O. Wallscheid, J. Böcker, in: 2022 International Power Electronics Conference (IPEC-Himeji 2022- ECCE Asia), IEEE, 2022
P. Rehlaender, O. Wallscheid, F. Schafmeister, J. Böcker, IEEE Transactions on Power Electronics (2022), 37(11), pp. 13413-13427
W. Kirchgässner, D. Wöckinger, O. Wallscheid, G. Bramerdorfer, J. Böcker, in: IKMT 2022; 13. GMM/ETG-Symposium, 2022, pp. 1-6
A. Brosch, J. Rauhaus, O. Wallscheid, J. Böcker, D. Zimmer, IEEE Open Journal of Industry Applications (2022)
2021
A. Brosch, O. Wallscheid, J. Böcker, IEEE Open Journal of Industry Applications (2021), 2, pp. 47–63
E.G. Gedlu, O. Wallscheid, J. Böcker, in: 2021 IEEE International Electric Machines & Drives Conference (IEMDC), 2021, pp. 1–8
G. Book, A. Traue, P. Balakrishna, A. Brosch, M. Schenke, S. Hanke, W. Kirchgässner, O. Wallscheid, IEEE Open Journal of Power Electronics (2021), pp. 187-201
D. Weber, S. Heid, H. Bode, J. Lange, E. Hüllermeier, O. Wallscheid, IEEE Access (2021), 9, pp. 35654–35669
M. Stender, O. Wallscheid, J. Böcker, IEEE Transactions on Power Electronics (2021), 36(11), pp. 13261-13274
M. Stender, O. Wallscheid, J. Böcker, in: 2021 IEEE 19th International Power Electronics and Motion Control Conference (PEMC), IEEE, 2021
M. Stender, O. Wallscheid, J. Böcker, in: IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society, IEEE, 2021
M. Stender, O. Wallscheid, J. Böcker, in: 2021 IEEE 19th International Power Electronics and Motion Control Conference (PEMC), IEEE, 2021
S. Hanke, O. Wallscheid, J. Böcker, IET Digital Library, 2021
O. Wallscheid, IEEE Open Journal of Industry Applications (2021)
W. Kirchgässner, O. Wallscheid, J. Böcker, IEEE Transactions on Energy Conversion (2021), 36(3), pp. 2059 - 2067
P. Balakrishna, G. Book, W. Kirchgässner, M. Schenke, A. Traue, O. Wallscheid, Journal of Open Source Software (2021), 2498
M. Schenke, O. Wallscheid, IEEE Open Journal of the Industrial Electronics Society (2021), pp. 388-400
M. Schenke, O. Wallscheid, arXiv preprint arXiv:2105.08990 (2021)
A. Brosch, O. Wallscheid, J. Böcker, IEEE Transactions on Industrial Informatics (2021)
W. Kirchgässner, O. Wallscheid, J. Böcker, in: arXiv preprint arXiv:2103.16323, 2021
2020
A. Traue, G. Book, W. Kirchgässner, O. Wallscheid, IEEE Transactions on Neural Networks and Learning Systems (2020), pp. 1-10
W. Kirchgässner, O. Wallscheid, J. Böcker, IEEE Transactions on Power Electronics (2020), 36(7), pp. 7480-7488
A. Brosch, S. Hanke, O. Wallscheid, J. Böcker, IEEE Transactions on Power Electronics (2020), pp. 2179-2190
K.S.C. Stille, D. Weber, J. Lange, T. Vogt, O. Wallscheid, J. Böcker, in: 2020 International Symposium on Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM), IEEE, 2020
M. Stender, O. Wallscheid, J. Böcker, IEEE Transactions on Industrial Electronics (2020), 68(9), pp. 8646-8656
M. Stender, O. Wallscheid, J. Böcker, in: 2020 International Symposium on Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM), IEEE, 2020
S. Heid, D. Weber, H. Bode, E. Hüllermeier, O. Wallscheid, Journal of Open Source Software (2020), 5(54), pp. 2435
H. Bode, S. Heid, D. Weber, E. Hüllermeier, O. Wallscheid, arXiv preprint arXiv:2005.04869 (2020)
E.G. Gedlu, O. Wallscheid, J. Böcker, in: The 10th International Conference on Power Electronics, Machines and Drives (PEMD 2020), 2020, pp. 937–942
O. Wallscheid, E.F.B. Ngoumtsa, IEEE Transactions on Power Electronics (2020), 35(12), pp. 13563–13572
S. Hanke, O. Wallscheid, J. Böcker, arXiv preprint arXiv:2003.06268 (2020)
W. Kirchgässner, O. Wallscheid, J. Böcker, arXiv preprint arXiv:2001.06246 (2020)
M. Stender, O. Wallscheid, J. Böcker, 2020
2019
M. Schenke, W. Kirchgässner, O. Wallscheid, IEEE Transactions on Industrial Informatics (2019), pp. 4650-4658
W. Kirchgässner, O. Wallscheid, J. Böcker, in: 2019 IEEE 28th International Symposium on Industrial Electronics (ISIE), 2019
W. Kirchgässner, O. Wallscheid, J. Böcker, in: 2019 IEEE International Electric Machines & Drives Conference (IEMDC), 2019
M. Stender, O. Wallscheid, J. Böcker, in: 2019 IEEE 28th International Symposium on Industrial Electronics (ISIE), IEEE, 2019
S. Hanke, S. Peitz, O. Wallscheid, J. Böcker, M. Dellnitz, in: 2019 IEEE International Symposium on Predictive Control of Electrical Drives and Power Electronics (PRECEDE), 2019, pp. 1–6
O. Wallscheid, M.S. Shafiq, J. Böcker, in: 2019 IEEE 28th International Symposium on Industrial Electronics (ISIE), 2019, pp. 402–407
O. Wallscheid, E.F.B. Ngoumtsa, J. Böcker, in: 2019 IEEE International Electric Machines & Drives Conference (IEMDC), 2019, pp. 2188–2195
S. Hanke, O. Wallscheid, J. Böcker, in: 2019 IEEE International Electric Machines & Drives Conference (IEMDC), 2019, pp. 2210–2216
D.E.E. Gaona, O. Wallscheid, J. Böcker, IEEE Transactions on Industrial Electronics (2019)
2018
D. Weber, K.S.C. Stille, O. Wallscheid, J. Böcker, in: 2018 International Symposium on Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM), IEEE, 2018
D. Weber, M.I. Rafsan Jani, M. Grabo, O. Wallscheid, T. Klaus, S. Krauter, J. Böcker, in: World Conference on Photovoltaic Energy Conversion (WCPEC-7), 45th IEEE PVSC, 28th PVSEC, 34th EU PVSEC., 2018
O. Wallscheid, M. Schenke, J. Böcker, in: 2018 21st International Conference on Electrical Machines and Systems (ICEMS), 2018, pp. 1181–1186
O. Wallscheid, M. Schenke, J. Böcker, in: 2018 IEEE 18th International Power Electronics and Motion Control Conference (PEMC), 2018, pp. 793–799
S. Hanke, S. Peitz, O. Wallscheid, S. Klus, J. Böcker, M. Dellnitz, arXiv preprint arXiv:1804.00854 (2018)
2017
O. Wallscheid, W. Kirchgässner, J. Böcker, in: 2017 International Joint Conference on Neural Networks (IJCNN), 2017
D. Gaona, O. Wallscheid, J. Böcker, in: 2017 IEEE 12th International Conference on Power Electronics and Drive Systems (PEDS), 2017, pp. 1–126
D. Gaona, O. Wallscheid, J. Böcker, in: 2017 IEEE 12th International Conference on Power Electronics and Drive Systems (PEDS), 2017, pp. 599–606
S. Hanke, O. Wallscheid, J. Böcker, in: 2017 IEEE International Symposium on Predictive Control of Electrical Drives and Power Electronics (PRECEDE), 2017, pp. 101–106
O. Wallscheid, A. Specht, J. Böcker, IEEE Transactions on Industrial Electronics (2017), 64(5), pp. 3921–3929
D. Gaona, O. Wallscheid, J. Böcker, in: 2017 IEEE Southern Power Electronics Conference (SPEC), 2017, pp. 1–6
O. Wallscheid, J. Böcker, in: 2017 IEEE International Electric Machines and Drives Conference (IEMDC), 2017, pp. 1–8
O. Wallscheid, J. Böcker, in: 2017 IEEE International Symposium on Predictive Control of Electrical Drives and Power Electronics (PRECEDE), 2017, pp. 31–36
T. Vogt, D. Weber, O. Wallscheid, J. Böcker, in: International Joint Conference on Neural Networks (IJCNN), 2017, pp. 3228–3235
O. Wallscheid, Shaker Verlag, 2017
2016
O. Wallscheid, T. Huber, W. Peters, J. Böcker, EPE Journal (2016)(25), pp. 1–10
O. Wallscheid, U. Ammann, J. Böcker, in: PCIM Europe 2016; International Exhibition and Conference for Power Electronics, Intelligent Motion, Renewable Energy and Energy Management, 2016, pp. 1–8
2015
O. Wallscheid, J. Böcker, IEEE Transactions on Energy Conversion (2015), 31(1), pp. 354–365
O. Wallscheid, M. Meyer, J. Böcker, in: 2015 IEEE 11th International Conference on Power Electronics and Drive Systems, 2015, pp. 981–985
O. Wallscheid, J. Böcker, in: European Conference on Power Electronics and Applications (EPE), 2015
O. Wallscheid, J. Böcker, in: IEEE International Electric Machines and Drives Conference (IEMDC), 2015
W. Peters, O. Wallscheid, J. Böcker, in: European Conference on Power Electronics and Applications (EPE), 2015
2014
O. Wallscheid, T. Huber, W. Peters, J. Böcker, in: IECON 2014-40th Annual Conference of the IEEE Industrial Electronics Society, 2014, pp. 811–818
A. Specht, O. Wallscheid, J. Böcker, in: 2014 International Power Electronics Conference (IPEC-Hiroshima 2014-ECCE ASIA), 2014, pp. 1501–1507
2013
O. Wallscheid, J. Böcker, in: ETG-Fachbericht-Internationaler ETG-Kongress 2013–Energieversorgung auf dem Weg nach 2050, 2013
A. Specht, S. Ober-Blöbaum, O. Wallscheid, C. Romaus, J. Böcker, in: Electric Machines & Drives Conference (IEMDC), 2013 IEEE International, 2013, pp. 1411–1417
2012
W. Peters, O. Wallscheid, J. Böcker, in: IECON 2012-38th Annual Conference on IEEE Industrial Electronics Society, 2012, pp. 2877–2882
2011
O. Wallscheid, W. Peters, J. Böcker, Aktuelle Technik (2011), 5(1), pp. 30–33
W. Peters, O. Wallscheid, J. Böcker, in: IECON 2011-37th Annual Conference of the IEEE Industrial Electronics Society, 2011, pp. 534–538