dSPACE - Magazine 2016/01

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An Ethernet module was used to be
able to communicate with measure-
ment computers and data servers dur-
ing the tests. The controls modeled
in Simulink were distributed across
multiple processor cores. One core
each was used for the open loop con-
trol, closed loop control, and other
tasks (such as network communica-
tion). Real-Time Workshop™ was used
to compile the controls and run them
on the dSPACE system. The signals of
the angle encoder are used to trigger
and the open and closed loop con-
trols were modeled and validated in
Simulink, the system had to become
real-time-capable to control the hard-
ware during actual tests.
Designing a Real-Time-Capable
Control
The open and closed loop control of the
multiple-swashplate system was imple-
mented on a dSPACE system with a
quad-core DS1006 Processor Board and
the I/O boards DS2103 and DS2201.
Signal flow chart of the test setup.
CUSTOMERS
the program via hardware interrupts
so the program runs synchronously to
the remaining control and measure-
ment hardware. Thus, it was possible
to fulfill the high requirements for the
clock speed of less than 250 µs per
control step and achieve the desired
control accuracy. Developers can use
ControlDesk® Next Generation and a
specially designed graphical user in-
terface therein to access all the im-
portant parameters during a running
operation, such as the controller gain,
Experimental setup in the wind tunnel.
dSPACE
PC
Rotating
frame
Non-rotating
frame
META
Rotor
Slip ring
Collision sensors
Resistive strain gauges &
sensors
Emergency
STOP
EPOS
Rotor balance
Actuators Real-time system
Distributor
box
Azimuth
encoder
Controller
box
 DS1006
 DS2103
 DS2201
Piloting rack
Azimuth pulse
synchronizer
(clock-pulse
generator)
Clock signal: 1/rev
and 256/rev
EPOS: Digital positioning controller rev: revolution
urce: © DLR
Source: © DLR
dSPACE Magazine 1/2016 · © dSPACE GmbH, Paderborn, Germany · ·