A Mic op ocesso
...
based
Speed Con olle
o
DC
Mo o s
by
P o .
E.
Be U1,
J.
He anz, L Ma inez,
J.
Miguel and
I.
Mu nil la
College
o
Enginee ing and Telecommunica io n
iU_P
8
),
Ba celona
The in oduc ion
o
mic op ocessO s in o elec ic ehicles has
opened
many in e es ing possibili ies o imp o ing he ope a ion
and
main-
enance
o
such
au omo i e
sys ems. On
he
o he
hand, mic o-
compu e -based
mo o
con ol sys ems a e playing an e e inc easing
ole
in
esea ch
on
applied elec onics.
In
his pape , a mic ocompu e -
based
digi al
dynamic
con ol sys em
(DDC)
o a de
mo o
is
desc ibed. The desc ip ion includes
mo o
iden i ica ion and
co ec o
digi al implemen a ion,
as
well
as
p ecision analysis o
he
con ol
sys em. The in luence
o
poles and co ec o gain on he sys em
esponse
is
also p esen ed, his allows he choice o
app op ia e
pa ame e s o
he
design
o
a lag-lead con olle . The applica ion
o
such a con olle wi h a low powe de mo o e i ies he heo e ical
app oach and e eals
he
necessa y in o ma ion o analyse
he
speed
con ol
sys em s abili y o a choppe - ed
de
mo o
using
he
same
con olle .
ln odudion
..
....-p
-
------:-:::-~~---:-:;'i"
..
-.-::c.c----------,
'6
. '
I J s
..
>-1
-
-1
I I
I J
l:
0/A
I
.0,/0
I I
'
I
______
;
----------------- ---- ----
--
---1
I
-
c.
l
·~·.-·
--~
•&•••--
0
......
""
......
T--~
......
..
,
..
-
..
.........
,
...
LSI
echniques de elopmen has
caused digi al elec onic de ices o
become much smalle , as e
and
cheape ;
consequen ly,
he leld
o
au omo i e elec onics
has
been con-
side ably
b oadened
due o mic o-
compu e
u iliza ion. In 1977 he i s
mic op ocesso was
in oduced
in
he
Oldsmobile
To onado
as
pa
o
he
spa k
;>lug
iming ci cui .
In
hese
uel- ehicles he mic op ocesso
is
delega ed o
pe o m
he
<!ngine
con ol and p o ide aluable in o ma-
ion o he d i e . On he
o he
hand.
mic ocompu e -based
con ol
o
~lec ic
ehicles p o ides a highe
e iciency. allowing speed adjus men
o
o que
con ol.
amely,
bo h
igni ion and iming
con ol,
as
well
as
cylinde selec ion. which cons i u es
he main con ol asks in a uel- ehicle
and a e eplaced by a
dosed-loop
digi al
con ol
in he elec ic ehicle.
~o eo e ,
by changing only he
con ol
p og amme, di e en se ices
.:an
be
ob ained
wi h he same p opul-
sion sys em. This e sa ili y also allows
o implemen di e en kinds
o
~lec ic
ehicles ( ans. cabs, ai po
ucks) wi h
he
same p opulsion
sys em. The low
cos
and
easibili y
o
mic op ocesso s
is
ano he
signi ican
eason o hei use ei he as choppe -
ed de
mo o
con olle s o as in e e
con oUe s when ac
mo o s
ace used.
F"~
1
Func ion•
bloc: c
di8Qnm
o
he
mic ocompu'lll
~
com o
s sam
As
ega ds he
mo o
selec ion o
? o esso
E.
13e an.
J.
Hemsnz.
L.
Ma (nez.
J.
Miguel
and
I.
Munllla a e
wi h
he
Depa men
o
Sys ems
Con ol. The
Collage
o
Enginee ing
and
Telecommun'-
ca ons (U.P.B.l.
Jo dl
Gl ona SaiQIIdo,
5/N,
Ba celona
34.
Spain.
an dec ic ehicle. i
canno
be made
by ..:onside ing he
mo o
se ices
only, bu mus ake in o accoun he
ela ionship be ween
mo o
se ices
and he
<!SSOcia ed
elec onic
con ol.
F om [he elec onic con ol poin
o
iew.
ac
mo o
..:on ol
is
mo e
complex. Howe e . whe eas a de
mo o
a ely has a con e sion
e iciency bigge han 85%.
ha
o
an
ac mo o
is
app oxima ely 90%. E en
allowing o
impo an
losses
in
he
con ol sys em. he global e iciency
o
he p opulsion sys em-con ol
bene i s
by
using ac. Finally. ene gy
eco e y
is
simple o he de
mo o
which cons i u es he bes al e na i e
when wo king a low ol ages.
Digi al sys em
This pape discusses a digi al sys em
Z2 ELECT
..
IC
VEHICLE
DEVELCPMEN'TS SUMME
..
11113
which uses a Rockwell Aim-65 mic o·
.:ompu e o con ol he speed
o
a
de 5e omo o . Fo his applica ion.
he Rockwell Aim-65 mic ocompu e
is
used o implemen
he
sampled-da a
eedback .:on ol. and he mic o-
..:ompu e speed
con ol
sys em
is
shown
in
Fig. I. The ac ual speed
is
ob ained
by means
o
a achogene a o .
I s
ou pu
is
compa ed
o
he
e e ence
inpu
and he e o
is
hen compen·
sa ed
by
he
mic op ocesso whose
ou pu
p o ides he
co ec ed
con ol
signal o he p eampli ie . The se o-
ampli ie
is
d i en by he p eampli ie
and
p o ides he
ou pu
signal o he
mo o .
OC
mo o
model
An
impo an
elemen in he
analysis
and
design
o
a speed con ol
sys em
is
he choice
o
model o he
~
....
~ -
;.
,. _ .
-.
..
. -.
-
~~
"l'l l-
1UX'
~
·s
~D
·---
ms s:
1-"'-
...
-
~
,.,..
I
'MS
~C:A.I..
.
"Dc:.DDaq.
I I
~
~
-,-
~~
0 l I
lz.
s
"'
S'
..
,.
o~
la
1!
.A iO lll S
.4A/~c!>
. .
~
DINT
.
I•
...
:1
iS~
w;!
0 '
11
~
~
CJ.Oeo<...
lb.
CVIA)
Fig. 2
Func ional
sc:hame
o
he
analog
in111 ac:e
u..ci
in
he
expe imen
powe ac ua o . Co ec mo o iden-
i ica ion
is
he esul
o
measu ing he
mechanical ime cons an
as
well
as
he s a ic gain.
Mechanical ime cons an
A s ep inpu ol age
is
applied
o
he mo o a ma u e and he exponen-
ial ise
o
he mo o speed
is
measu ed on an oscilloscope. Thus.
b)'
gene a ing a low equency pulse ain
in
he
D/A
con e e ou pu . he
co esponding achome e ou pu can
be
ob ained bemg he ime cons an
7>.~
he ime equi ed
o
he acho-
me e ol age
o
ise
o
63
.
~<::;
o
i s
inal
aiue.
S a ic eain
The~
mo o s a ic
gain
K0 can be
ob ained
by
gene a ing a
signal
in
he
D/A con e e ou ou and eadinc he
co esponding achome e ou pu-
by
means
o
he AID con e e .
Mo o ans e unc ion
~o o
ans e unc ion can be
w i en:
w0
(s
1 =
V(s)
whe e K0
<Y
205 ad.sec- 1 / ol . and
Tc
""'
0.::!5 secs o he mo o used
in
he expe imen .
A/D
Con e sion
Assemble
P og amme
Figu e 2 shows he unc ional
scheme
o
he analog in e ace o he
Rockwell
Aim-65
mic ocompu e
sys em which
has
been de eloped
in
he Depa men o Sys ems Con ol
(ETSIT. Ba celona). The design
is
easily adap able o any -o he
compu e .
l
uses
eigh mul iplexed
inpu s and one ou pu , and
has
been
designed o con ol low-powe de ices.
LDA
*DF
The mic ocompu e con ols he
analog inpu h ough he so-called VIA
ia se
o
p og ammable
inpu /ou pu
po s)
by
using an Aim-65 sys em.
B
means
o
he usua sub ou ine
he main p og amme
in
·Basic makes
he ollowing sequence
oi
assemble
ins uc ions o he A/D con e sion:
. DEFISE VIA'S OPERATIOS
MODE
STA
LDA
STA
LDA
STA
OP
NOP
LDA
STA
LEVl .
LDA
SEC
SBC
BNE
JMP
A003
: 3F
A0Cb1
.
~-
:::z::
_,
:
A00l
=i=
27
A00
AOOl
#07
LEV
1
C0D 1
. SELECT ANALOG
1! 'PL
~
T
.
HOLD
:END OF
CONVERSIOJ' '~
RETURN
TO
BASIC
Co ec o
Digi al
Implemen a ion
By
using
he bilinea ans o ma ion a
Jag-lead
con olle has been p o-
g ammed
in
he mic ocompu e . i s ans e uncnon being:
G
(s)
= K
L!:..C.
c
s+p
The co esponding
Basic
p og amme
is
gi en
below:
ELECTRIC
VEHICLE
DEVELOPMENTS
SUMMER
1983
23
'
..,
5
7
10
15
18
20
22
DlM
X<4>
DIM
Y<4>
INPUT
"TRNS.
Z=
l"
; FR
IF
FR:::ol
GO
TO 300
INPUT
"SAMPLING PERIOD" ; T
INPUT
"DELAY" ; Z
INPUT
"C" = ; C
24
INPUT
"P'' = ; P
26
INPUT
"K"
= ; K
28
INPUT
"DER=l,
BlLIN.~";
FT
3(J
IF FT=l
GO
TO
38
32 o
1 =
<K•c•T
-2•K> <2+P*T>
34 01 =
<2•K+K*C•T>/<2+P*T>
36 Q3 = <P*T
-2>/<P*T+D
38 FOR I
=~TO
4
~
X<D=0
-4-2
Y<D=0
44
~EXT
I
Mo o
esponses
o
a 5 ol s-s ep in
he
se -poin ha e been
ob ained
o
di e en
alues
o
p ( igu e 3)
and
K
( igu e
4).
Being
he
co ec o
gain a
cons an ,
he o e shoo
and
damping
equency
o
he
ou pu
will
dec ease
i
he
co ec o
pole becomes mo e nega i e,
as
i can
be
seen in igu e 3.
On
he
con a y,
a g ea inc ease
o
K
makes
he
damping equency
componen
bigge when p
and
c a e ixed ( ig. 4 ).
S abili y Analysis
Figu e 5 shows he
sys em
block
diag am whe e he
mic ocompu e
compu a ion
lag
has
been
modelled
by means
o
a delay
block
o
T
seconds.
Choosing c=4 i s ans e
unc ion
can
be ob ained, om he
sys em
block diag am as ollows:
(100+10p}z3 +
(1
Op-IOO+l5.J8K)z1
+ 30.76Kz +
!5.J8z
= 0
I
he
sys em
is
s able all
he
oo s
Zi
o
his
equa ion
will lie inside
he
uni
ci cle,
o
I
Zi
I<
I.
Choppe - ed
DC
Mo o
Figu e 6 shows
he
unc ional
block
diag am
o
a de
mo o
which
is
ed by
a c
hoppe .
Di e ences
be ween
his
scheme
and
ha
in igu e 1
can
easily
be es ablished.
Thus.
p
eampli ie
and
s
e oampli ie
a
e
eplaced he e by
pulse g
ene a o
and
c
hoppe
. F om
he
poin
o
i
ew
o
s a
bili y i me:ms
ha
a new
block
diag am mus be anaJ
ys
ed.
In
which
case. he c
hoppe
ans
e
un
c
ion
is
d
e e mined
by i s
du y
cycle:
V(s) = E
IJ(s)
211'
whe e E ep esen s
he
ba e y
ol age.
~8
POKE
40962. 255
5(J
X
<a>=
X
<I>
52
X<I>=X<2>
53 X
<~=X<3>
54
X
<3>
= X
<4>
55
y
<0>
= y < 1 >
56
y
<1>
= y
<2>
57 y
<2>=
y
<3>
58
Y<3>=Y<4>
60
POKE
04
.
~
e-Ts
( l - e·Ts ) K s + c
Km
'
S'T'P
TniS'-:n
H(s) =
65
POKE
05.
12
I + K K + e·Ts ( l - e-T
s)
K
~
A S s + p
Km
1"TT1S
+ I
70
W=USR<R>
75
U =PEEK
<40959>
= e·Ts ( l - e·Ts ) K.820
85 X
<4>
=
<U-!2T>
• 08
88
IF
FR
=I
GO
TO
350
s1 + sp + e-Ts ( 1 - e
·Ts
) K.l
5.
38
89 IF
FT=
l
GO
TO
250
91
Y<4>=X<J>*Ql+X<4>
And
i s pulse ans e
unc ion:
~~
102
104
110
120
• Q2 -y
<3>
•
Q3
FOR
L=0
TO
Z H(z) = 820K
(zl
+
2z
+
I)
(lOO+ 10p)z3
+(lOp-
100 +
1538K)zl
+ 30.76Kz +
1538K
150
254'
252
255
300
310
32~
350
3
51
360
370
380
40(.1
G = 3 • 5
~EXTL
0 =
<Y
<4>.
13.5> + 127
POKE
40960 . 0
GO
TO
5~
F
o
pa icula alues
o
K. p
and
c,
he s abili y
o
such a sys em can be
de e mined om he loca
i
on
o
he
oo s
o
he cha ac e is ic
equa ion
y
<4>
= Y
<J>
+
K•X<4>-K*X<3>+K*C•T•X<4>
y
<4>
= Y
<4>
I <1 +
P•T>
GO
TO
LOO
INPUT
Nl.JM.
COEFFICIENTS
IN
DECREASING ORDER:
A0.
Al.
A2,
A3.
A4.
INPUT
DEN
. COEFFICIENTS :00. Bl,
B2,
B3,
B4
GO
TO
38
Y
<4>
= X<4>*
A<0>+X<J>•
AI
+X<D*
A2
Y
<4>
=
Y<4>•X<I>•AJ+X<4>*A4
Y
<4>
=
Y<4>-Y<J>•BJ-Y<2>*B2-Y<I>•BJ-Y<0>*84.
Y
<4>=
Y<4>
/80
GO
TO
100
END
Di e en
asks in his
p og amme
a e explained as ollows:
10-28
300-310
60-85
32-58
91
110-120
250-252
310-380
100-104
Inpu
pa ame e s
Sample
e o
signal
Compu e
y( }
Ou pu
o
Dl
A
con e e
Co ec
he
compu a ion
o
y( )
by means
o
he bilinea
ans o ma ion
Find
y( )
by
means
o
he
z- ans onn
Delay
in oduced
by
he
usua y
o
expe imen
he
in luence
o
he
sampling
pe iod.
Op ions:
-Di ec
compu a ion
(22,
24,
26).
-
Compu a ion
by
means
o
z- ans onn
( 1
l.
3119,
31
)
-Modi y
sampling
ime
(29).
ELECTRIC
VEHICU
DEVELOPMENTS
SUMMER
1113
Mo eo e ,
an
impo an
class
o
pulse
gene a o s
can
be
modeUed as a ze o-
o de -hold
ci cui
I l I whose
ans e
unc ion
can
be
w i en
as
ollows:
I - e-Ts
G(s)
= G0 (....:....-
5
~-1
whe e T
is
he mic op ocesso
sampling ime.
By
i
n oducing
bo h
choppe
and
pulse gene
a o
an
s
e
iunc
ions ( ig.
5)
,
he
sys em
cha
ac e
is ic e
qua
ion
can
be
ob ained,
in
o de
o
e i y
he
s abili y
o
he
sys em.
Conclusion
The
applica ion
o
a pe sonal
compu e
on a de
mo o
con ol
has
b
een
desc i
bed.
Th
e s
udy
shows
ha
he co
n
ol can be used sa
i
s ac o ily
in se omo
o
applica i
ons
a
nd
as a
speed
con ol.
As
o i s
u iliza ion
in
e
lecoic
ehicles.
he
sa
me
c
on
c
ep
:1
pplies.
In
his case, he p
owe
is
s
upplied
o
he
mo o
h ough
a
c
hoppe
{SCR o ansis o ), his
be
ing
he
pulse g
ene a
o
o in e
ace
be ween
he
mic ocompu e
and
he
powe
s age.
S abili y
analysis
is
also
gi en when
he
pulse g
ene a o
is
modelled
as
a
ze o-o de
ho
l
d.
Real
ime
con ol
cons i u es
he
mos
s ingen
demand
on
mic o-
p ocesso
based
equipmen .
Compu a-
ion
lags, con e sion imes
and
ope a ionaJ
accu acy
acqui e a ele an
d
esign
signi icance.
Hence,
esponse
s
peed
p oblems
wiTI
a ise
i
he
og amme
execu ion
ime
is la ge.
e e o e,
maximum
con olled
mo o
p
Th
spee
p d
will
be
de e mined
by
mic o-
ocesso
minimum
sampling
ime.
Ti is
pe iod
is
calcula ed
by
conside ing
he
AID
con e sion
ime
he
con ol
algo i hm
compu a ion
ime
and
he
0/A
con e sion
ime.
Finally,
p og amming
in
Basic
e ea~
ha
in e nal
ope a ions
can
be
made
wi h
g ea llccu acy
a
he
expense
o
educing
p ocessing
speed.
On
he
o he
hand,
he
use
o
assemble
language
imp o es
he
speed
o
esponse.
while
ope a ions
a e
made
wi h
la ge
e o s.
The e o e,
his
ade·
o
be ween
speed
esponse
and
algo i hm
ope a ions
accu acy
con-
s i u es
he
i s
p oblem
o
be sol ed
when
designing a digi al
con olle .
Re e ences
I
Linn.
A. K.
and
Koespel,
W.
W
••
"A
mic op ocesso
speed
con ol
sys em".
IEEE
T ans.
lnd.
Elec on
.
Con .
lns um.
Vol.
IECI-24,
No.
3.
Augus
1977.
2
Cen
da
go a
-G
ala a.
M.
and
P a s, J
.•
"Yehiculo
eiEc ico con alimen aci6n
sola ".
P oyec o
Fin de Ca e a, ETSIT
de Ba celona.
1980.
3 Modula Se o Sys em
MS
ISO Book 3
DC.
Synch o
S.
AC, Ad anced
Expe imen s".
Feedback
Ins umen s
Limi ed.
4
Cadzow
.
J.
A.
and
Ma ens. H.R ..
"Disc e e- ime
and
Compu e
Con ol
Sys ems".
P en ice·H
aD.
INC.
En~ewood
Cli s. New
Je sey.
.
·-
...
-"
·
~
-·
.
~
·
--
I · I I · ·
...
l · ; I ,
,.
-. ,-
.-
-..
~
~I
-
;'
J
~
I . . .,. -
...
..
;-
..
'
. -I
~
I
-h
!.
-' ;
~
..
; ; I --
. .
-
- l - --
~
-
·
~
-:
..
-
..
··
-1-l- _
,.
..
.
~-
.
..
.
T
...,.
..
.. ,
~
I
.
::.:,.
I"""" . I
....
..
~
·-
..
.
·
.,
. . ,
-i
I.
h .
...
--
• · I
~
.....
' i ...
....
...:.
l,.oo
""'
.
~-~
..
. -
·'--
I ·
--
-.l
[/
. -I
..
_.
·
I~
.
...
. ,
.
~
.. -; ..
..
'
' -
..
. --</ · --
I-
. I . I
-~
- l .
/
-
'!
I
I·
•
•
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:;o
·-
"/
' ! --.. . I ·+·
..
I : I
I . . -
'.J
..
: ' I
KoG..(
I
! - I i --; ·
.
· 1 I ; . I ' I ' . I I l
'.I
I i l · J .
..i .l
I
I I • -
116'
; I ' ' I i I
I ,. I I . I I I I ' I I i ! I 1
..
' I
i I ... ; I i I I i J '
1"
; I
I
'#<,~~
I
' I ' I I I I I
--.
--·-
.
Fig. 4
Speed
...--
o
5
a ,.._
(K •
0.07.
0.1,
O.SI
OI•ITA'
co~A C"WI!!
I
I '
OILA,.
Sloli
"'''-T .
ll ~T
•
-~
,_.~
1(.~
...!!4-l_ ..,T1'0
#I
~
..
,
~5•i.l
-
I l
!(,. I
1<',.
7" .CCJW~
CIV 'I"IIT
J
Fig. 5
S~m
block
die -m
I
whe e
nn
"'"0.25
secs
'
Km""' 205 •
KT
:
25.l<P
I
KA
: 0.75
T : 0.2
secs.
I
EVC
-Expo
.83
Fig. 6
Sp.d
con1 01
- n-m
a •
choppe
ied
de
mo o
Washinl! on.
DC
(
19
Jul
1983)-
The
Elec i~
Vehicle Council
announced
oda~
ha
13
o ganisa ions a e so a
commi ed
o
exhibi
p oduc s
and
se ices du ing he Council's
Expo
"83
Conie ence
and
Showcase.
The
in e ·
na ional
e en will be held
a
he
H a
Re2enc Ho el in
Dea bo n.
M.ichigan om:
Oc obe
4 o 6. 1983.
' 1! io h) . .
..
. . .
. -
,
I
I
I
- - .- ..
-'--
-
----S.-
--
-~'-
-
---
---
·-
-
--
- -- -- ·
• I
I
"'
•••
, I
"--'
:
1 • : '
....
••
Exhibi o s:
Gene al
Mo o s
Co po a ion
Fo d
Mo o
Company
De oi
Edison
Company
Ea on
Co po a ion
Long
Island
Ugh ing
Company
G umman
Allied Indus ies,
lnc
Albe Enginee ing,
lnc
Ene gy
De elopmen
Associa es
(Gul +
Wes e n)
Lucas Chlo ide EV Sys ems
L d
Fia
SpA/IVECO
B own,
Bo e i, & Cie
Tennessee
Valley
Au ho i y
AVERE
In o ma ion
is a ailable
om
he
Fig. 3 Speed
~ o
5
ol~
(p
•
3,
5.
81
Council,
llll-19 h
S ee
NW.
Washing on, DC 20036.
ELECTRIC
VEHICLE
DEVELOPMENTS
SUMMER
1983
25