• Kalman
• modelling
• PID
• real-time
• vector control
• VHDL

This thesis work describes the modelling, simulation, implementation and testing of a motion controller for a Permanent Magnet Synchronous Motor, used as an actuator for the Beam Wire Scanner at CERN.
The dissertation, after a brief introduction to the subject, focuses on the design of the control system starting for the basics of motion control and the mathematical equations describing the various parts of the system. The architecture of the controller is explained as well as the design choices and their reasons. It consists in a three-level cascade feedback loop, regulated through three variable structure, saturated PID controllers with anti-windup architecture. Also, three feedforward actions are included, as well as a static decoupler and a steady-state Kalman filter.
In the last chapters, the implementation of the control system on an ALTERA FPGA board is described and its performances are verified through a serie of experiments.