마이크로 커널을 이용한 2축 반송 테이블의 분산제어

Distributed Control of a Two Axis Convey Table Using Real-time Micro-Kernel

  • 발행 : 2004.03.01

초록

In this paper, we propose a PC based distributed controller for a two axis convey table using real-time micro-kernel. PC, Windows program, gives an easy way to implement wealthy GUI and micro-kernel, ${\mu}$C/OS-II, provides a real-time capability to control devices. We built a real-time distributed control system using ${\mu}$C/OS-II kernel which needs to process the tasks for two motors within the desired time to synchronize the motion. We used both semaphore and message mail box for synchronization. Unlike the previous study where we used step motors for the actuator of two axes convey table, we rebuilt the convey table with DC motors and the dedicated position servo which had built in out lab, and then we implemented a realtime distributed control system by putting the micro-kernel into between PC and position servo. Moreover we developed the PC based graphic user interfaces for generating planar drawing image control. Experimental results also presented to show the Proposed control system is useful.

키워드

참고문헌

  1. Ian D. McCammon, Stephen C. Jacobsen, 'Communication and Control for Distributed Microsystems' , IEEE Control Systems Magazine, pp. 48-50, 1990 https://doi.org/10.1109/37.45794
  2. Wook Hyun Kwon, Seong-Gyu Choi, 'Real-Time Distributed Software-In-the-Loop Simulation for Distributed Control Systems', IEEE Int. Symp. on Computer Aided Control System Design, pp. 115-119, 1999 https://doi.org/10.1109/CACSD.1999.808634
  3. Samuel M. Smith, 'An Approach to Intelligent Distributed Control for Autonomous Underwater Vehicles,' Proceedings of the 1994 Symposium on AUV'94, pp. 105-111, 1994 https://doi.org/10.1109/AUV.1994.518614
  4. Gerhard Gruhler, 'CANopen based distributed control systems,' IEE Colloquium on Industrial Automation and Control, pp. 4/1-4/3, 1998
  5. Seung Ho Hong, 'Scheduling Algorithm of Data Sampling Times in the Integrated Communication and Control Systems', IEEE Trans. on Control Systems Technology, vol. 3, pp. 225-230, 1995 https://doi.org/10.1109/87.388131
  6. Jean J. Labrosse, 'MicroC/OS-II The Real-Time Kernel', R&B Books, 2002
  7. Jean J. Labrosse, 'Embedded Systems Building Blocks', R&B Books, 2002
  8. 김종걸, '실시간 커널에 의한 스텝 전동기의 마이크로 분산제어 시스템의 구현' , 광운대학교 석사학위논문, 2001