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

fYear

2009

fDate

9-12 Aug. 2009

Firstpage

2857

Lastpage

2862

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ICMA.2009.5246425

Filename

5246425