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Real Time Development Interface Embedded in a Compact Motion Controller

Reill, Josef and Serrano Gonzalez, Cristina and Senft, Volker and Pfau, Martin (2018) Real Time Development Interface Embedded in a Compact Motion Controller. In: International Exhibition and Conference for Power Electronics, Intelligent Motion, Renewable Energy and Energy Management, PCIM Europe 2018. VDE. International Conference for Power Conversion, Intelligent Motion and Power Quality (PCIM), Deutschland, Nürnberg.

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Official URL: https://www.vde-verlag.de/proceedings-de/564646231.html

Abstract

This paper presents a real-time development interface for motor control, embedded in a single board (MCB). The MCB’s CPU is an ARM CortexA8 supporting EtherCAT implementation. This CPU computes the control algorithm that can be implemented with Matlab/Simulink toolchain. The host PC that runs Matlab environment is able to connect to the running code via EtherCAT bus by use of Ethernet over EtherCAT (EoE) directly. Via external mode the developer is able to monitor all Simulink signals of the deployed model on hardware board during runtime. Manipulation of constant block values is also feasible to e.g. investigate on different controller parameters online. The actual prototype board is fully functional and will now be miniaturized to fit into a modular drive unit. With this unit complex multi-axis systems can be installed, monitored and investigated by simply attaching EtherCAT communication bus and single power supply voltage. Thanks to Simulink development environment the controller code development is very efficient. Since the hardware is reduced to mass electronics components the cost is acceptable.

Item URL in elib:https://elib.dlr.de/129020/
Document Type:Conference or Workshop Item (Speech, Poster)
Title:Real Time Development Interface Embedded in a Compact Motion Controller
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Reill, JosefJosef.Reill (at) dlr.dehttps://orcid.org/0000-0003-4092-063X
Serrano Gonzalez, CristinaCristina.SerranoGonzalez (at) dlr.deUNSPECIFIED
Senft, VolkerVolker.Senft (at) dlr.deUNSPECIFIED
Pfau, MartinMartin.Pfau (at) dlr.deUNSPECIFIED
Date:June 2018
Journal or Publication Title:International Exhibition and Conference for Power Electronics, Intelligent Motion, Renewable Energy and Energy Management, PCIM Europe 2018
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Publisher:VDE
Series Name:PCIM Europe
Status:Published
Keywords:motor control, real time, development, embedded
Event Title:International Conference for Power Conversion, Intelligent Motion and Power Quality (PCIM)
Event Location:Deutschland, Nürnberg
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Mechatronics [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Components and Systems
Deposited By: Reill, Dr. Josef
Deposited On:24 Nov 2020 12:16
Last Modified:24 Nov 2020 12:16

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