This course is part of the Masters’ Degree in Electrical Engineering, part of the programme in Electric Energy Conversion, and an elective course for the rest of the MSc’ Degree in Electrical Engineering. The course objective is to provide the methods and hands-on experience for commanding power converters and electric drives via an embedded controller.

After this course, the student will • Fundamentals of real-time digital control • Simulation of the discrete-time control of power converters and electric drives • Study of the microcontroller: hardware, software, developement toolchain • Case studies: Induction motor, BLDC and PM and Reluctance Synchronous Motors • Experimental implementation: control of Induction, BLDC and BLAC motors • Producing of a technical report of a individual project, including simulated or experimental results

• Fundamentals of Power Electronics and Electric Drives • Fundamentals of continuous-time and discrete time control • C-programming and fundamentals of Matlab-programming • Simulation in Matlab/Simulink

1) Introduction Embedded Control (4.5 hours) • The micro-controller unit (MCU) • Use of the MCU in power converter and drives • Basics of task synchronization • Digital numbers: sampling, digital representation of numbers 2) The STM32 ARM-Cortex MCUs (12 hours) • Description of the STM32 family and applications • Fundamentals of code development and MCU programming and debug • How to read the documentation • The structure of the MCU • Key internal blocks: core, memory, buses, peripherals • GPIO Blocks • General purpose timer and PWM timer • Analog to Digital Converter • Watchdog timer • Structure of the control code: PWM Interrupt Service Routine 3) Control of DC/DC converters and DC machine (9 hours) • Review of control structure and tuning in continuous time • Discrete-time control: closed loop current control, speed control • Code • Step by step calibration • Control of the Brushless DC Motor 4) Control of the three-phase inverter and Induction machine (9 hours) • Review of scalar and vector control of the induction motor (IM) • Step by step implementation: V/Hz, I-Hz, field-oriented vector control • Code • Step by step calibration of each of the above 5) Control of the Synchronous Machines (7.5 hours) • Encoder • Review of vector control • Code • Step by step calibration • Motor parameters identification 4) Laboratory: Simulation (15 hours) a) C-MEX S-Functions in Matlab/Simulink (1.5 h) b) Closed-loop current control of DC/DC converters (3.0 h) c) Control of the DC motor (1.5 h) d) Control of the Brushless DC motor (1.5 h) e) Scalar Control of the Induction Motor (1.5 h) f) Vector Control of the Induction Motor (3.0 h) g) Control of the Brushless AC motor (1.5 h) h) Control of Synchronous Reluctance Motors (1.5 h) 5) Laboratory: Experimental (21 hours) a) STM32 Nucleo Boards and add-ons (1.5 h) b) Toolchain for software development and debug: the Blinky example (3.0 h) c) Open loop control of the BLDC motor: debug of encoder and analog quantities acquisition (3.0 h) d) Closed loop Control of the Brushless DC motor (3.0 h) e) Closed loop Control of the Brushless AC motor (3.0 h) f) Scalar Control of the Induction Motor (3.0 h) g) Vector Control of the Induction Motor (4.5 h)

41 hours: Lectures 15 hours: Simulink laboratory: simulation of the control algorithms 24 hours: Experimental Laboratory: implementation and debug of the control algorithms

• Class notes (provided online) • STM32 ARM Microcontrollers Manuals and documentation • D.W.J. Pulle et al., “Applied Control of Electrical Drives”, 2015, Springer • B. K. Bose, "Modern Power Electronics and AC Drives", Prentice Hall PTR, 2002 • G.Ellis, “Control System Design Guide”, 2000, Academic Press. • R. Isermann, “Digital control systems”, 1989, Springer. • A. Vagati, “Electrical drives”, Politecnico di Torino, class notes. • A. Fratta, “Dispense del corso di conversione statica dell’energia elettrica”, Politecnico di Torino, class notes

Modalità di esame: Prova orale obbligatoria; Elaborato progettuale individuale; Elaborato progettuale in gruppo;

The mandatory oral exam will start with the individual discussion of one assigned project, regarding the simulation or on-chip implementation of one control algorithm. Each student will produce and present a technical report of the respective project. The project and the report can be delivered individually or in groups of maximum 3 students. This first part of the oral exam will be evaluated with a maximum grade of 15 out of 30. If the project report is evaluated 6 points or more, the rest of the exam will consist of two oral questions on the content covered by the exam, having the datasheet and reference manual documentation at hand. In this stage, the student may be asked to respond in (hand) written form, and therefore send a picture of such notes right away for evaluation. This second part will be graded 15 out of 30, as well.

Modalità di esame: Prova orale obbligatoria; Elaborato progettuale individuale; Elaborato progettuale in gruppo;

The mandatory oral exam will start with the individual discussion of one assigned project, regarding the simulation or on-chip implementation of one control algorithm. Each student will produce and present a technical report of the respective project. The project and the report can be delivered individually or in groups of maximum 3 students. This first part of the oral exam will be evaluated with a maximum grade of 15 out of 30. If the project report is evaluated 6 points or more, the rest of the exam will consist of two oral questions on the content covered by the exam, having the datasheet and reference manual documentation at hand. In this stage, the student may be asked to respond in (hand) written form. If not in presence, the student with be asked to send a picture of such notes right away for evaluation. This second part will be graded 15 out of 30, as well.