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실시간 소프트웨어기반 Feed-forward PID 제어기와 산업용 네트워크 프로토콜을 이용한 모션제어플랫폼에 관한 연구
석동주(Dong Ju Seok),이태민(Tae min Lee),트란광빈(Tran Quang Vinh),원종백(Jong Baek Won),이상태(Sang Tae Lee),최성혁(Sung Hyuk Choi) 대한기계학회 2011 대한기계학회 춘추학술대회 Vol.2011 No.10
In this paper, a software based real-time motion controller using Feed-forward PID algorithm applying for the Motion Network Control System is proposed, which is based on recent achievements in computer technology and real-time software application. It is developed in real-time subsystem of Windows by RTX real-time API which provides a flexible developing structure, high power of computer processing unit and doesn’ have to have embedded hardware devices. The resulting system takes advantages with both simplicity and efficiency over the traditional embedded-based system. With the enhanced feed-forward PID controller structure, a diversified profile generation module and various supported industrial network protocols, guarantee error alleviating performance, this solution is believed to be highly competitive to both performance and productivity in a robot control field which contains unstop challenges and requirements for more and more effective, versatile and economic products.