Title :
Programming and reconfigurable control for the motor suite based on networks
Author :
Xu, He ; Zhang, Zhenyu ; Tan, Dawei ; Jin, Bao ; Ma, Yulin
Author_Institution :
Coll. of Mechanic & Electr. Eng., Harbin Eng. Univ., Harbin, China
Abstract :
In this paper, the framework of hierarchical parallel control architecture based on competitive mechanism is highlighted to present reconflgurable hardware logic and algorithms of network-based motor control, and application for the open mobile robot´s control system is demonstrated to address a special kind of strong coupling of mechanical and electrical hardware, the interchange of propulsive wheel and the passive wheel of mobile robot.
Keywords :
DC motors; mechatronics; mobile robots; position control; wheels; competitive mechanism; electrical hardware; hierarchical parallel control architecture; mechanical hardware; network-based motor control; open mobile robot control system; passive wheel; propulsive wheel; reconflgurable control; reconflgurable hardware logic; Control systems; Couplings; Hardware; Logic programming; Mobile robots; Motor drives; Reconfigurable logic; Robot control; Robot programming; Wheels; hierarchical parallel competitive control architecture; locomotion wheel with coupling of mechanical and electrical hardware; motor suite based on networks; reconfigurable controller;
Conference_Titel :
Mechatronics and Automation, 2009. ICMA 2009. International Conference on
Conference_Location :
Changchun
Print_ISBN :
978-1-4244-2692-8
Electronic_ISBN :
978-1-4244-2693-5
DOI :
10.1109/ICMA.2009.5246425
