A hierarchically organized microprocessor system for motor position control

Graduation date: 1987Accurate Position Control is an important technique in\ud robotic engineering. The working environment of robotic\ud systems presents special requirements for position control.\ud The scope of this study is to explore the control algorithms\ud of a digital, hierarchical position control system. Detailed\ud analysis and simulation show that the system can be\ud compensated by linear functions to obtain the required\ud characteristics. Various nonlinear approaches are also\ud studied. Experiments show that with the nonlinear dynamic\ud compensation (NDC) the response speed can be optimized and\ud problems such as quantization noise and nonlinearity of the\ud actuator can be better solved.\ud In order to test the design a high-level language\ud digital simulator is developed. Real-time experiment is also\ud conducted with a microprocessor controller. Experimental\ud data from both the simulation and the real-time experiment\ud demonstrate that the control algorithms are successful. The experimental system is also hierarchical. The human\ud interface is accomplished by a personal computer which\ud receives the operator's command and reports the system\ud status. The communication between the PC and the controller\ud is managed by control-oriented operating system. The actual\ud control activities are handled by the controller task\ud routine in the operating system