제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2004년도 ICCAS
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- Pages.753-757
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- 2004
Development of a Distributed Multi-rate Motion Control System Using USB
- Rhim, Sung-Soo (Department of Mechanical Engineering Kyung-Hee University) ;
- Lee, Soon-Geul (Department of Mechanical Engineering Kyung-Hee University)
- 발행 : 2004.08.25
초록
This paper describes a PC-based distributed multi-rate realtime control system using USB protocol, which is developed as a general motion controller. The control system consists of two control programs: one running at 1 kHz sampling rate on a PC with Linux and another running at 10 kHz sampling rate on a remotely located motion control card called RASID (remote axis serial interface device). Two programs communicates through USB at every 1 msec. A USB communication driver is developed to ensured the 1 msec desired communication time. The main program running on the PC generates reference trajectory at 1 kHz and send it to the RASID through USB and RASIDs located near the motors gather the sensor information and execute the low-level control at 10 kHz. The USB-based connectivity reduces the wiring harness and eventually the manufacturing cost of the machine. The multi-rate nature of the developed system improves the control capability. The effect of sampling rate is analyzed and simulated.
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