Embedded controller design - mechatronic approach

摘要

The paper presents an idea of controller design for complex mechatronic systems. This idea is based on virtual prototyping of controllers using model simulation. Two different types of simulation are distinguished; off-line simulation and real-time simulation. Simulated model includes design system components; mechanical, electrical, electronic, control and all these components are treated with same significance during design process. Computer aided design methodology of mechatronic system is shown. Embedded controller design concept, based on FPGA solution is studied. Software framework implemented for presented methodology is formulated and tested. The case study of control system design of flexible robot arm is presented.