An Easy-to-use and Economic Experimental Apparatus for Motion Control Education
Abstract
Motion control education in engineering requires hands-on experiments to catch the concept of feedback control, but experimental apparatus for motion control experiments is expensive, complex in mechanism and is hard to use it in general. In this paper, we develop an easy-to-use and economic experimental apparatus for motion control education using an open-source free operation system LINUX and a free real-time kernel RTAI. The developed apparatus is reliable in mechanical structure, and fast enough to realize 100 microsecond sampling time for real-time control purpose, and so it can test conventional PID control logics, various input shaping control logics and advanced motion control logics with cheap prices. The validity of the developed motion control apparatus is demonstrated by testing P, PD control logics and ZV input shapers experimentally.Downloads
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