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Sensors 2015, 15(6), 13945-13965; doi:10.3390/s150613945

Guaranteeing Isochronous Control of Networked Motion Control Systems Using Phase Offset Adjustment

Department of Mechanical and Information Engineering, University of Seoul, 163 Seoulsiripdae-ro, Dongdaemun-gu, Seoul 130-743, Korea
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Author to whom correspondence should be addressed.
Academic Editor: Albert M. K. Cheng
Received: 22 April 2015 / Revised: 4 June 2015 / Accepted: 5 June 2015 / Published: 12 June 2015
(This article belongs to the Special Issue Cyber-Physical Systems)
View Full-Text   |   Download PDF [5834 KB, uploaded 12 June 2015]   |  

Abstract

Guaranteeing isochronous transfer of control commands is an essential function for networked motion control systems. The adoption of real-time Ethernet (RTE) technologies may be profitable in guaranteeing deterministic transfer of control messages. However, unpredictable behavior of software in the motion controller often results in unexpectedly large deviation in control message transmission intervals, and thus leads to imprecise motion. This paper presents a simple and efficient heuristic to guarantee the end-to-end isochronous control with very small jitter. The key idea of our approach is to adjust the phase offset of control message transmission time in the motion controller by investigating the behavior of motion control task. In realizing the idea, we performed a pre-runtime analysis to determine a safe and reliable phase offset and applied the phase offset to the runtime code of motion controller by customizing an open-source based integrated development environment (IDE). We also constructed an EtherCAT-based motion control system testbed and performed extensive experiments on the testbed to verify the effectiveness of our approach. The experimental results show that our heuristic is highly effective even for low-end embedded controller implemented in open-source software components under various configurations of control period and the number of motor drives. View Full-Text
Keywords: networked motion control systems; isochronous control; phase offset adjustment; EtherCAT; open source software networked motion control systems; isochronous control; phase offset adjustment; EtherCAT; open source software
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Kim, I.; Kim, T. Guaranteeing Isochronous Control of Networked Motion Control Systems Using Phase Offset Adjustment. Sensors 2015, 15, 13945-13965.

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