Á¤º¸°úÇÐȸ ÄÄÇ»ÆÃÀÇ ½ÇÁ¦ ³í¹®Áö (KIISE Transactions on Computing Practices)
ÇѱÛÁ¦¸ñ(Korean Title) |
°íÁ¤¹Ð µ¿±â ¸ð¼Ç Á¦¾î ÀÀ¿ëÀ» À§ÇÑ Xenomai ±â¹Ý ÀÓº£µðµå Á¦¾î±â |
¿µ¹®Á¦¸ñ(English Title) |
Xenomai-based Embedded Controller for High-Precision, Synchronized Motion Applications |
ÀúÀÚ(Author) |
±è丰
±èÀÍȯ
±èÅÂÇö
Chaerin Kim
Ikhwan Kim
Taehyoun Kim
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¿ø¹®¼ö·Ïó(Citation) |
VOL 21 NO. 03 PP. 0173 ~ 0182 (2015. 03) |
Çѱ۳»¿ë (Korean Abstract) |
´Ù¾çÇÑ »ê¾÷ ÀÚµ¿È ºÐ¾ß¿¡ È°¿ëµÇ°í ÀÖ´Â ¸ð¼Ç Á¦¾î ½Ã½ºÅÛÀÇ ÇÙ½É ¿ä¼ÒÀÎ ¸ð¼Ç Á¦¾î±â´Â ¸ð¼Ç ¸í·ÉÀÇ Àü¼ÛÀÇ Áֱ⼺°ú °¢ ¸ðÅÍ µå¶óÀÌºê °£ µ¿ÀÛ½ÃÁ¡ÀÇ ÆíÂ÷ ÃÖ¼ÒÈ µî ½Ç½Ã°£ ¼º´É ¿ä±¸»çÇ×À» °¡Áø´Ù. ÀÌ·¯ÇÑ ¿ä±¸»çÇ×À» ¸¸Á·½ÃÅ°±â À§ÇØ ¸ð¼Ç Á¦¾î±â´Â ÀüÅëÀûÀ¸·Î Çϵå¿þ¾î Áß½ÉÀÇ Àü¿ë±â ÇüÅ·Π±¸ÇöµÇ¾î ¿ÔÀ¸³ª ½Ã½ºÅÛ °£ ȣȯ¼º°ú È®À强ÀÇ ÇÑ°è·Î ¼ÒÇÁÆ®¿þ¾î Áß½ÉÀÇ ¹ü¿ë ¸ð¼Ç Á¦¾î±â·Î ´ëüµÇ´Â Ãß¼¼ÀÌ´Ù. ÇÑÆí ÃÖ±Ù¿¡´Â Àúºñ¿ë, °í¼º´ÉÀÇ ¹ü¿ë ÀÓº£µðµå Ç÷§ÆûÀ» ÀÌ¿ëÇÑ ¸ð¼Ç Á¦¾î±â¿¡ ´ëÇÑ °ü½Éµµ Ä¿Áö°í ÀÖ´Ù. º» ³í¹®¿¡¼´Â °íÁ¤¹Ð ¸ð¼Ç Á¦¾î ÀÀ¿ëÀ» À§ÇØ ARM ±â¹Ý ¹ü¿ë ÀÓº£µðµå º¸µå »ó¿¡¼ Xenomai ±â¹Ý ÀÓº£µðµå Á¦¾î±â¸¦ ¿ÀǼҽº ¼ÒÇÁÆ®¿þ¾î·Î ±¸ÇöÇÑ °á°ú¸¦ Á¦½ÃÇÑ´Ù. ±¸ÇöµÈ ÀÓº£µðµå Á¦¾î±âÀÇ ¼º´É Æò°¡¸¦ À§ÇØ ½ÇÁ¦ ÀÀ¿ë »óȲ¿¡¼ ÃøÁ¤ ½ÇÇèÀ» ¼öÇàÇÏ¿´À¸¸ç, ½ÇÇè °á°ú ±¸ÇöµÈ Á¦¾î±â´Â µå¶óÀ̺ê 3°³¸¦ 2 ms Á¦¾îÁÖ±â·Î µ¿½Ã ±¸µ¿Çϴ ȯ°æ¿¡¼µµ ¾ÈÁ¤ÀûÀÎ ¼º´ÉÀ» º¸ÀÓÀ» ¾Ë ¼ö ÀÖ¾ú´Ù.
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¿µ¹®³»¿ë (English Abstract) |
Motion control systems are widely deployed in various industrial automation processes. The motion controller, which is a key element of motion control systems, has stringent real-time constraints. The controller must provide a short and deterministic control message transmission cycle, and minimize the actuation deviation among motor drives. To meet these requirements, hardwarebased proprietary controllers have been prevalent. However, since it is becoming difficult for such an approach to meet increasing needs of system interoperability and scalability, nowadays, softwarebased universal motion controllers are regarded as their substitutes. Recently, embedded motion controller solutions are gaining attention due to low cost and relatively high performance. In this paper, we designed and implemented an embedded motion controller on an ARM-based evaluation board by using Xenomai real-time kernel and other open source software components. We also measured and analyzed the performance of our embedded controller under a realistic test-bed environment. The experimental results show that our embedded motion controller can provide relatively deterministic performance with synchronized control of three motor axis at 2 ms control cycle.
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Å°¿öµå(Keyword) |
¸ð¼Ç Á¦¾î
ÀÓº£µðµå Á¦¾î±â
¿ÀǼҽº ¼ÒÇÁÆ®¿þ¾î
½Ç½Ã°£ Á¦¾àÁ¶°Ç
motion control
embedded controller
open source software
real-time constraints
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ÆÄÀÏ÷ºÎ |
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