Embedded Control of Electrical Drives is a core course within the Master’s Degree in Electrical Engineering, specifically tailored for the Electrical Drives for Mobility program. It is also available as an elective for students enrolled in the broader MSc curriculum in Electrical Engineering. The course equips students with advanced methods and practical tools for the embedded control of power converters and electrical drives, covering both hardware and software perspectives. Through a combination of lectures and extensive hands-on laboratory sessions, students gain direct experience in simulating, developing, and independently validating control strategies for electric drives. In addition to technical proficiency, the course emphasizes autonomy and the ability to produce clear, structured technical reports.

By the end of the course, students will be able to: - Master the principles and implementation of real-time digital control for electrical drives. - Acquire in-depth knowledge of microcontroller architectures and professional software development toolchains. - Simulate and experimentally validate discrete-time control algorithms for power converters and electric drives in a laboratory environment. - Analyze and solve case studies involving DC/DC converters, asynchronous and permanent magnet synchronous motor drives, as well as single- and three-phase active rectifiers. - Carry out experimental validation for selected case studies. - Prepare comprehensive technical reports documenting their individual or group projects, including experimental or simulation results.

Students are expected to have prior knowledge of: - Fundamentals of Power Electronics and Electrical Drives - Basics of continuous-time control theory - Matlab programming - Simulation using Matlab/Simulink

Lectures (40 hours): - Introduction to embedded control systems - STM32 Industrial Microcontroller Unit (MCU) - Timer units: PWM mode, capture mode, and internal watchdog timer - Digital I/O and ADC units - Serial communication and USART interface - Quadrature encoder and encoder unit - Control of AC motor drives (induction motors, permanent magnet synchronous motors) - Parameter identification (back-EMF, inductance, flux maps, inverter error) - Grid-connected converters and simulation with PLECS - Sensorless control of synchronous motor drives Hands-On Laboratory (40 hours): - C programming fundamentals for embedded control - STM32 Nucleo boards and add-on modules - STM32 toolchain for software development and debugging - PWM timer configuration, synchronization, STM32CubeMX usage, and logic analyzer - ADC, DAC, watchdog timer, and virtual oscilloscope - Induction motor control: V/Hz, I-Hz methods - SPM machine control: alignment, parking, I-Hz, field-oriented control (FOC) - MCU code generation using PLECS - Control of active rectifiers in PLECS and Hardware-in-the-Loop (HIL) implementation

This hands-on course dedicates 50% of its nominal time to laboratory experience. Lectures, covering the remaining 50% of class time, focusing on Laboratory preparation.

- 40 hours of lectures - 40 hours of hands-on laboratory: simulation, implementation, and debugging of control algorithms

- Class notes (provided online) - STM32 ARM Microcontroller and Nucleo Board documentation - D.W.J. Pulle et al., Applied Control of Electrical Drives, Springer, 2015 - B.K. Bose, Modern Power Electronics and AC Drives, Prentice Hall PTR, 2002 - G. Ellis, Control System Design Guide, Academic Press, 2000 - R. Isermann, Digital Control Systems, Springer, 1989 - M. Pastorelli, Electrical Drives (Class notes, Politecnico di Torino) - M. Rossi, Introduction to Microcontroller Programming for Power Electronics Control Applications: Coding with MATLAB® and Simulink®, CRC Press, 2023 - E. Armando, course handouts “Conversione Statica dell’Energia Elettrica” - M. Pastorelli, course handouts “Azionamenti elettrici” Additional resources: slides, solved and unsolved exercises, laboratory tutorials, recorded lectures, and simulation tools.

Slides; Esercizi; Esercizi risolti; Esercitazioni di laboratorio; Esercitazioni di laboratorio risolte; Strumenti di simulazione; Strumenti di collaborazione tra studenti;

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

Exam: Compulsory oral exam; Practical lab skills test; Group project;

... Assessment consists of: - A compulsory oral exam, starting with the discussion of an individual or group project. The project involves the experimental implementation of a digital control algorithm and requires submission of a technical report. - The project, which can be completed individually or in teams of two members, is graded up to 15/30. If the project receives a grade of 6/15 or higher, the oral exam continues with two questions covering any course topic. This part is also graded up to 15/30. - The final grade is the sum of the project and oral exam scores.

Gli studenti e le studentesse con disabilità o con Disturbi Specifici di Apprendimento (DSA), oltre alla segnalazione tramite procedura informatizzata, sono invitati a comunicare anche direttamente al/la docente titolare dell'insegnamento, con un preavviso non inferiore ad una settimana dall'avvio della sessione d'esame, gli strumenti compensativi concordati con l'Unità Special Needs, al fine di permettere al/la docente la declinazione più idonea in riferimento alla specifica tipologia di esame.