Paper Info
Title
Design and Implementation of a Delay-Guaranteed Motor Drive for Precision Motion Control
Abstract
This paper proposes a systematic design approach for a precision-guaranteed motion control system. We develop a delay-guaranteed motor drive with our new software implementation and real-time Ethernet, which can be used as a building block to build up a multi-axis motion control system. Our drive software implementation provides a probabilistic guarantee on drive-local processing delays to motor actuation, while real-time Ethernet provides a deterministic guarantee on message communication delays from a motion control host to each drive. In the paper, we address the precision of a motion control system in two terms: host cycle time and simultaneous actuation deviation. The host cycle time is a period with which the host can periodically release motor control messages while the average drive utilization does not exceed 1, and the simultaneous actuation deviation is the difference between the earliest and the latest actuation at different drives in response to the same message. In our approach, the main objective is to minimize the periods of tasks in each drive, using our stochastic analysis, which gives us a minimum possible host cycle time. Together with an existing delay analysis of real-time Ethernet, we analyze the end-to-end delay from message release to motor actuation and in turn the simultaneous actuation deviation. Through experiments, we show that for various requirements on the deadline miss probabilities of the tasks, we can successfully reduce the host cycle time and evaluate the resulting distribution of the simultaneous actuation deviation depending on the number of drives.
Year
DOI
Venue
2012
10.1109/TII.2011.2166774
IEEE Trans. Industrial Informatics
Keywords
Field
DocType
machine control,ethernet,precision motion control,motion control,software implementation,motor drives,multiaxis motion control system,real-time ethernet,delay-guaranteed motor drive,networked motor drive,local area networks,delay guarantee,stochastic analysis,precision-guaranteed motion control system,end to end delay,real time,cycle time,synchronization,motor control,real time systems
Motion control,Synchronization,Computer science,Control theory,Stochastic process,Motor control,Real-time computing,Control engineering,Ethernet,Motor drive,Probabilistic logic,Machine control
Journal
Volume
Issue
ISSN
8
2
1551-3203
Citations 
PageRank 
References 
15
0.98
18
Authors
3
Name
Order
Citations
PageRank
Kanghee Kim122320.24
Minyoung Sung2305.37
Hyun-Wook Jin338341.06