A Low-Cost Hardware-In-the-Loop Implementation of an Angle-Tracking Observer using Poly-GPC

Abstract

Resolver is an angular position sensor used in harsh conditions which produces amplitude-modulated voltages whose envelopes contain information about the angular position. Getting the angular position from these signals is difficult, especially during acceleration. The angular position can be modeled as a polynomial function in function of time. However, tracking polynomial functions is not straightforward. On the other hand, Hardware-In-the-Loop (HIL) allows a fast testing and monitoring of the performance of controllers and estimators implemented in digital processors, under different conditions that are difficult to replicate with hardware components. This paper implements a low-cost Hardware-In-the-Loop (HIL) of polynomial-tracking generalized predictive control (Poly-GPC) to act as an angle tracking observer (ATO) to estimate the angular position. The proposed approach was implemented and tested using the Texas Instruments development kit LAUNCHXL-F28379D. Experimental results show the accuracy of the proposed ATO to get the angular position from resolver signals.