Embedded controller design-mechatronic approach

Abstract

Presents an idea of controller design for complex mechatronic systems. This idea is based on virtual prototyping of controllers using model simulation. Two different types of simulation are distinguished: off-line simulation and real-time simulation. The simulated model includes design system components; mechanical, electrical, electronic, control and all these components are treated with the same significance during the design process. A computer aided design methodology of a mechatronic system is shown. The embedded controller design concept, based on an FPGA solution is studied. The software framework implemented for the presented methodology is formulated and tested. The case study of control system design of a flexible robot arm is presented.