Design and implement a novel embedded servo controller for 6-DOF motion system

摘要

In this paper, a novel embedded servo controller is design and implemented for 6-DOF motion system which adopts the multi-agent concept and rapid control prototyping technology. Through using multi-agent concept, the control system of 6-DOF motion system is divided into several cooperated controller agents with natural hierarchy. And the embedded servo controller is designed as an agent controller corresponding to the unique role for actuator's position control. Through transforming agent controllers to cooperated agent tasks, the modularization design object for hardware and software levels of 6-DOF motion system is easily achieved. Furthermore, by using simulink and real-time workshop based on RCP technology, the agent tasks are efficiently implemented which accelerate and simplify the development process of embedded controller. The validation test and analysis results show that the designed servo controller achieved desired functions and performance.