Real-time control of a servosystem using the inverter-fed powerlines to communicate sensor feedback
Coakley, N.G.; Kavanagh, R.C.
Industrial Electronics, IEEE Transactions on
Volume 46, Issue 2, Apr 1999 Page(s):360 - 369
Digital Object Identifier 10.1109/41.753775
Summary:It is shown that the pulsewidth modulation inverter-fed power line
is a feasible medium for the transmission of modulated digital
information at data rates of over 40 kb/s and that this transmission
path provides a suitable alternative to the sensor cabling between the
actuator and the controller of an encoder-based servosystem. The encoder
data is modulated and transmitted from the actuator to the controller,
over the inverter-fed power cable. The data is modulated using
frequency-shift keying, based on a center frequency of 5 MHz.
Specialized magnetics design techniques are outlined for the coupling
and decoupling circuits which transfer the modulated digital information
to and from the power lines. A software observer is employed to improve
the velocity derived from the received position information, and this
velocity is used in the motion control algorithm to generate a reference
torque signal for the controller
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