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Design and Realization of Distributed Real-Time Controller for Mechatronic Systems.
Abstract
Developing distributed embedded control systems increases the need for a consistent design approach. Our example is taken from the mechatronic design in the automotive industry and illustrates our structuring concept for a modular realization of real-time-critical controllers. In our consistent design approach we employ the structured modelling of mechatronic systems, a modular integration platform for real-time software implementation and a modular hardware platform based on FPGAs and microcontrollers.
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This paper describes a compact, high-speed special purpose processor, which offers a low- cost solution to implement linear time invariant controllers. The controller has been reformulated into a modified state-space representation based on the operator, which is optimised for numerical efficiency. This Control System Processor (CSP) has been implemented using a programmable ASIC (ProASIC) device. δ
A basic idea of the mechatronic design is to decompose a
mechatronic system into subsystems in order to make the complex
structure manageable. This paper introduces a platform, named RABBIT,
which helps the designer in the development of mechatronic systems
during the simulation and implementation stages. At these stages,
software- and hardware-in-the-loop simulation is usually necessary. Our
purpose is to develop a modular hardware and software platform for
distributed real-time applications. The hardware comprises three main
components: IEEE 1394, MPC555 microcontroller, and FPGA. The central aim
of this project is high flexibility and extensibility of the platform.
Two case-studies are described to exemplify the implementation of such a
platform. One is named X-mobile (a novel modular mechatronic vehicle)
and the other is the TESLA system (Test Site for Laboratory Automation)
This paper presents an approach to a function-oriented structuring
of mechatronics systems, exemplified by means of an autonomous vehicle,
the X-mobile, including an active wheel suspension. This vehicle is a
fine example of the design methodology of mechatronic systems conceived
at the MLaP (Mechatronics Laboratory Paderborn). The design methodology
centers around a holistic, interdisciplinary consideration of all system
components involved. The development of the X-mobile, from early stages
to the simulation to the implementation, is also described. Furthermore,
this paper includes detailed technical information
With the steady increase in microcontroller performance,
mechatronic systems have become more and more complex. This requires new
organizational structures both in system design and in controller
structure. For system design, a practical way of structuring mechanical
systems vertically and horizontally has already been presented in a
number of papers. This structure has to be reflected in the controller
as well. The aim of this paper is to adapt and combine well-known
controller design techniques to make up a new and well-structured way of
controller design tailored to the organizational structure of
mechatronic design. After a brief overview of the mechatronic design
structure, this new controller design technique will be presented on the
basis of the cascade structure of SISO controllers and the centralized
controllers with state-vector feedback. For an example, the controller
of a new modular railway system is presented, with special emphasis on
the active suspension/tilt system
Entwicklung mechatronischer Systeme mit CAMeL. 3. Workshop Transmechatronik: Entwicklung und Transfer von Entwicklungssystemen der Mechatronik
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Mechatronik, Krefeld, Germany.
IPANEMA -Verteilte &htzeit-Informationsverarbeitung in mechatronischen Systemen
- U Honekamp
Honekamp, U. (1998). IPANEMA -Verteilte &htzeit-Informationsverarbeitung in
mechatronischen Systemen. Fortschr.-Ber. VOl, Reihe 20, Nr. 267, VOl-Verlag,
DUsseldorf, Germany.
MPC555 Evaluation Board Quick Reference
- Inc Motorola
Motorola, Inc. (1999). MPC555 Evaluation Board Quick Reference.