Abstract:

In recent years, a rapid evolution has been modifying the devices used in the industrial context in order to control the machinery. Modern computerized embedded systems (PACs) are taking the place of the classic PLCs. A much better flexibility is provided by the PACs and advanced algorithms can be implemented at moderate cost. In such a context, a benchmark environment has been developed in order to experiment with advanced algorithms (adaptive, neuro-fuzzy and sliding) applied to motion control of electric machinery. Such a environment may be used in order to test the control loop performances under realistic conditions, classical no-linearities included (saturation, dead zones and backlash). Besides, variable loads, previously defined analytically by the user considering the work circumstances of the actuator under study, may be implemented. Such a thing is very important, especially in machine-tools and robotic applications. The test environment is based on the operation of two PAC systems, managing the actuator and the programmable load, respectively.

Keywords:

Motion control, embedded RT control, rapid prototyping, HIL simulation, PAC systems.