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Real-time control of a servosystem using the inverter-fed power lines to communicate sensor feedback

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2 Author(s)
Coakley, N.G. ; Dept. of Electr. Eng. & Microelectron., Univ. Coll. Cork, Ireland ; Kavanagh, R.C.

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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Industrial Electronics, IEEE Transactions on  (Volume:46 ,  Issue: 2 )