| Title |
Distributed Control of a Two Axis Convey Table Using Real-time Micro-Kernel |
| Keywords |
분산제어 ; DC 모터 제어 ; 마이크로 커널 ; PC 기반 제어기 ; |
| Abstract |
In this paper, we propose a PC based distributed controller for a two axis convey table using real-time micro-kernel. PC, Windows program, gives an easy way to implement wealthy GUI and micro-kernel, μC/OS-II, provides a real-time capability to control devices. We built a real-time distributed control system using μC/OS-II kernel which needs to process the tasks for two motors within the desired time to synchronize the motion. We used both semaphore and message mail box for synchronization. Unlike the previous study where we used step motors for the actuator of two axes convey table, we rebuilt the convey table with DC motors and the dedicated position servo which had built in out lab, and then we implemented a realtime distributed control system by putting the micro-kernel into between PC and position servo. Moreover we developed the PC based graphic user interfaces for generating planar drawing image control. Experimental results also presented to show the Proposed control system is useful. |