Design and Implementation of FFPIV Scheme for Closed Loop Motion Controller

Ngo Ha Quang Thinh, Jae-Gark Choi, Won-Ho Kim

Department of Computer Engineering, Dong-eui University, Busan, Korea.
Department of Intelligent System Engineering, Graduate School of Dong-eui University, Busan, Korea.
Department of Mechatronics Engineering, Dong-eui University, Busan, Korea.

DOI: 10.4236/ica.2014.52005                

Abstract

To satisfy the requirements of motion control for industrial machine, a multi-axis motion controller based on DSP is developed in this paper. The motion controller consists of DSP which plays a main role in this design; DPRAM to make sure the rapid and reliable communication with host; FPGA to handle the task of address decoder and receiving feed-back encoder signal; and several peripheral logic circuits. In the part of hardware design, overall structure of motion control system is presented. Then, the Feed-Forward Proportional-Integral-Velocity (FFPIV) scheme which introduces KV in term of velocity loop to achieve the accurate, smooth and real-time response is proposed in the software developing part. The experiment data are carried out to indicate that this motion controller has advantages of superior performance and highly machining precision.

Keywords

Motion Controller, DSP, Motion Control System, Feed-Forward, Motion Profile

Conflicts of Interest

The authors declare no conflicts of interest.

References

[1]	Jun, W.X., Dong, S.S., Xue, T.Z. and Yang, H.B. (2010) The Remote Monitor and Control System for Motion Controller Based on the Ethernet. International Conference on Intelligent System Design and Engineering Application, 2, 717-719. http://dx.doi.org/10.1109/ISDEA.2010.215
[2]	Sung, M.Y., Kim, K.H., Jin, H.W. and Kim, T.H. (2011) An EtherCAT-Based Motor Drive for High Precision Motion Systems. International Conference on Industrial Informatics, Caparica, 26-29 July 2011, 163-168. http://dx.doi.org/10.1109/INDIN.2011.6034856
[3]	Ruili, C. and Jun, H. (2010) Developing and Research on Motion Controller Based on LM628. International Conference on E-Product E-Service and E-Entertainment, Henan, 7-9 November 2010, 1-3. http://dx.doi.org/10.1109/ICEEE.2010.5661605
[4]	Qiang, Y., Jing, F., Hou, Z., Yang, S. and Liu, Y. (2012) Experimental Validation of a Trajectory Planning Method withContinuous Acceleration Implemented on DSP-Based Motion Controller. Proceedings of the 10th World Congress on Intelligent Control and Automation, Beijing, 7-9 November 2010, 3326-3330. http://dx.doi.org/10.1109/WCICA.2012.6358447
[5]	Qiang, Y., Jing, F., Hou, Z. and Li, E. (2010) A Design of Multi-Axis Motion Controller for Welding Robot Based on DSP. International Conference on Advanced Technology of Design and Manufacture, Beijing, 23-25 November 2010, 383-387. http://dx.doi.org/10.1049/cp.2010.1328
[6]	Komin, U. and Tanta-ngai, K. (2011) DSP-Based Motion Controller Development for Milling Machine. Proceedings of SICE Annual Conference, Tokyo, 13-18 September 2011, 849-853.
[7]	Lv, C.H., Guo L.J. and Li J.D. (2012) Research of Motion Control System Based on PCI-1243.Third International Conference on Digital Manufacturing and Automation, 31 July 2 August 2012, Guilin, 662-665. http://dx.doi.org/10.1109/ICDMA.2012.157
[8]	Arif, S., Iqbal, J. and Munawar, S. (2012) Design of Embedded Motion Control System based on Modified Fuzzy Logic Controller for Intelligent Cruise Controlled Vehicles. International Conference on Robotics and Artificial Intelligence, Rawalpindi, 22-23 October 2012, 19-25. http://dx.doi.org/10.1109/ICRAI.2012.6413421
[9]	Ling, X., Li, Q., Wang, T., Dong, J., Tang, Z. and Ding, Y. (2011) Research and Design of Motion Controller for CNC Based on Fuzzy PID Algorithm with Feed-Forward Control. International Conference on Control, Automation and Systems Engineering, Singapore, 30-31 July 2011, 1-4. http://dx.doi.org/10.1109/ICCASE.2011.5997519
[10]	Zhou, L., Li, J., Sheng, J., Cao, J. and Li, Z. (2010) Closed-Loop Identification for Motion Control System. Proceedings of the 8th World Congress on Intelligent Control and Automation, Jinan, 7-9 July 2010, 477-480. http://dx.doi.org/10.1109/WCICA.2010.5553795
[11]	Rubaai, A. and Young, P. (2010) DSP-Based Fuzzy Neural Network PI/PD-like Fuzzy Controller for Motion Controls and Drives. IEEE Industry Applications Society Annual Meeting, Houston, 3-7 October 2010, 1-8. http://dx.doi.org/10.1109/IAS.2010.5614081
[12]	Rubaai, A. and Young, P. (2011)Hardware/Software Implementation of PI/PD-like Fuzzy Controller for High Performance Motor Drives. IEEE Industry Applications Society Annual Meeting, Orlando, 9-13 October 2011, 1-7. http://dx.doi.org/10.1109/IAS.2011.6074341
[13]	Dey, C., Mudi, R.K. and Mitra, P. (2012) A Self-Tuning Fuzzy PID Controller with Real-Time Implementationon A Position Control System. Third International Conference on Emerging Applications of Information Technology, Kolkata, 30 November 1 December 2012, 32-35. http://dx.doi.org/10.1109/EAIT.2012.6407855
[14]	Rubaai, A. and Jerry, J. (2010) dSPACE DSP-Based Real-Time Implementation of Fuzzy Switching Bang-Bang Controller for Automation and Appliance Industry. IEEE Industry Applications Society Annual Meeting, Houston, 3-7 October 2010, 1-8. http://dx.doi.org/10.1109/IAS.2010.5614479
[15]	Rubaai, A. and Jerry, J. (2011) Hybrid Fuzzy Bang-Bang Mode Controller for Electric Motor Drives Applications. IEEE Industry Applications Society Annual Meeting, Orlando, 9-13 October 2011, 1-8. http://dx.doi.org/10.1109/IAS.2011.6074336
[16]	Meza, J. L., Santibanez, V., Soto, R. and Llama, M.A. (2012) Fuzzy Self-Tuning PID Semiglobal Regulator for Robot Manipulators.IEEE Transactions on Industrial Electronics, 59, 2709-2717. http://dx.doi.org/10.1109/TIE.2011.2168789
[17]	Chiew, T.H., Jamaludin, Z., Bani Hashim, A.Y., Rafan, N.A. and Abdullah, L. (2013) Identification of Friction Models for Precise Positioning System in Machine Tools. Procedia Engineering, 53, 569-578. http://dx.doi.org/10.1016/j.proeng.2013.02.073
[18]	Lin, W.F., Yeh, S.S. and Sun, J.T. (2011) Friction Compensation Design for Velocity-Controlled Feed Drive Motions of CNC Machines. 9th World Congress on Intelligent Control and Automation, Taipei, 21-25 June 2011, 182-187. http://dx.doi.org/10.1109/WCICA.2011.5970725
[19]	Huang, W.S., Liu, C.W., Hsu, P.L. and Yeh, S.S. (2010) Precision Control and Compensation of Servomotors and Machine Tools via the Disturbance Observer. IEEE Transactions on Industrial Electronics, 57, 420-429. http://dx.doi.org/10.1109/TIE.2009.2034178
[20]	Rijlaarsdam, D., Nuij, P., Schoukens, J. and Steinbuch, M. (2012) Frequency Domain Based Nonlinear Feed-Forward Control Design for Friction Compensation. Mechanical Systems and Signal Processing, 27, 551-562. http://dx.doi.org/10.1016/j.ymssp.2011.08.008
[21]	OH (2001) Motion System Handbook. Power Transmission Design, Penton Media Inc., Cleveland.