Scheduled System Maintenance:
Some services will be unavailable Sunday, March 29th through Monday, March 30th. We apologize for the inconvenience.
By Topic

Design and Implementation of a Delay-Guaranteed Motor Drive for Precision Motion Control

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Kanghee Kim ; Sch. of Electron. Eng., Soongsil Univ., Seoul, South Korea ; Minyoung Sung ; Hyun-Wook Jin

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.

Published in:

Industrial Informatics, IEEE Transactions on  (Volume:8 ,  Issue: 2 )