Rapid control prototyping for flexible arm / Tadeusz Uhl, Zbigniew Mrozek, Maciej Petko // W: IFAC Conference on Mechatronic Systems, Darmstadt, Germany, 18-20 September 2000 [Dokument elektroniczny] / ... więcej

Rapid control prototyping for flexible arm / Tadeusz Uhl, Zbigniew Mrozek, Maciej Petko // W: IFAC Conference on Mechatronic Systems, Darmstadt, Germany, 18-20 September 2000 [Dokument elektroniczny] / IFAC Conference on Mechatronic Systems. – Amsterdam : Elsevier, 2000. – (IFAC Proceedings Volumes, ISSN 1474-6670 ; Vol. 33, Iss. 26). – S. 475-480 : rys., schem., wykr. – Tryb dostępu: https://www.sciencedirect.com/science/article/pii/S1474667017391899. – Bibliogr. 16 poz., Abstr. – doi: 10.1016/S1474-6670(17)39189-9

The paper presents an idea of controller design for complex mechatronic systems. This idea is based on virtual prototyping of controllers using model simulation. Two different types of simulation are distinguished; ... więcej

The paper presents an idea of controller design for complex mechatronic systems. This idea is based on virtual prototyping of controllers using model simulation. Two different types of simulation are distinguished; off-line simulation and real-time simulation. Simulated model includes design system components; mechanical, electrical, electronic, control and all these components are treated with same weight during design process. The role of controllers fast prototyping procedure is stressed. To prototype designed controllers a methodology based on real time simulation on final controller hardware is formulated. The FPGA based technology is applied for realisation of controller. The case study of control of flexible robot arm is presented.