Development of an FPGA-based general purpose digital twin and using az co-simulator with robot simulator

Many industrial applications are examined before being implemented through modeling, control in a simulated environment, or testing. This is used to design control systems, test them, optimize process performance, or train operators. These simulations are usually easily obtained using computer-based systems that work with an operating system and offer a software-based perspective, resulting in significant differences between the simulation time and the working time of the modeled system. The idea of a Real-Time Digital Simulator (RTDS) or digital twin, which can work in real-time, has emerged to solve this problem. Digital systems can meet this need satisfactorily with solutions such as parallel working capability of Field Programmable Gate Arrays (FPGAs). In this thesis, a permanent magnet direct current motor is modeled and operated in real-time on an FPGA. Both the real motor and the modeled FPGA based digital twin are operated in real-time under the same conditions. Armature currents and motor speeds of both physical motor and its digital twin were observed simultaneously on the same oscilloscope screen. The results showed that similar dynamics can be obtained with high accuracy between the digital twin motor and the real motor. In addition, FPGA-based digital twin of PMDC motor used as co-simulator with Webots application which is used to simulate robots, for electrical responses of motors of a differential driven mobile robot, and the current, speed, and moment variables were obtained for different loads and orbits in real-time. The proposed system demonstrates that digital twins of real-time application environments can be obtained.