A mechatronics test-bed for embedded distributed control systems

被引：0
|
作者：
Torngren, M [1 ]
Redell, O [1 ]
Snedsbol, R [1 ]
Johansson, R [1 ]
机构：
[1] Royal Inst Technol, Dept Machine Design, Mechatron Lab, S-10044 Stockholm, Sweden
来源：
ALGORITHMS AND ARCHITECTURES FOR REAL-TIME CONTROL 1997 | 1997年
关键词：
distributed control; real-time systems; design; control applications; decentralized control;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A testbed has been developed to be used for research in distributed real-time control systems. The testbed is modular both in mechanics and in control system, allowing a number of robot configurations, control system structures and execution strategies to be implemented and evaluated. The nodes of the control system are currently based on a microprocessor, CAN communication, interfaces to analog and digital I/O, and motor drive units. The modularity of the nodes allows changes of I/O and communication system, as well as the implementation of different resource structures. To give an idea of the experimental capabilities of the testbed, initial experiments in the area of time-varying control systems are described. The research goals include design and experimental evaluation of execution strategies, time-varying control systems and development tools for real-time implementation support.
引用
收藏
页码：143 / 148
页数：6
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