Distributed Motion Control Real-Time Contouring Algorithm Implementation and Performance Test

This paper presents an implementation and performance test of a distributed motion control system based on a master-slave configuration used to move a plasma-cutting torch over a predefined trajectory. The master is a general-purpose computer running on an open source operating system platform and software developer. Software running in the master computer generates commands on real time and we measure performance based on a selected set of differences between expected and observed distances. We are testing the null hypothesis that the outcome trajectory is identical to the input against the alternative hypothesis that there is a shift to the right or left of the input one. We used the Wilcoxon signed ranks test method for the hypothesis test.

• Francisco J. Lopez-Jaquez
• Sandra E. Ramirez-Jara

• Distributed
• motion
• control
• real-time
• contouring.

[1] C. Pang, V. Vyatkin and C. Fantuzzi, “time-complemented event-driven
control framework for distributed motion control systems based on IEC
61499 and IEEE 1588,” 9th International conference on Industrial
Informatics (INDIN), 2011, pp. 640-645
[2] G. Y. Gu, L. M. Zhu, Z. H. Xiong and H. Ding, “design of a distributed
multiaxis motion control system using the IEEE- 1394 bus,” IEEE
Transactions on Industrial Electronics, vol. 50, no. 2, December 2010,
pp. 4209-4218
[3] Z. Wang, D. Yu, Y. Hu and Y. Tao, “design of distributed cross-coupled
controller based on motion control bus,” IEEE 2009 chinese control and
decision conference (CCDC 2009), pp. 1662-1667
[4] Shi Hongyu, Feng Yong, and Chen Na, “a distributed digital motion
control system based SERCOS,” IEEE international conference on
electrical and control engineering, 2010, 48-52
[5] F. Benzi, G. S. Buja and M. Felser, “Comunication architecture for
electric drives,” IEEE Transactions on industrial informatics, Feb. 2005,
vol. 1, pp. 47-53.
[6] S.Y. Lin, C. H. Ho and Y. Y. Tzou, “distributed motion control using
real-time network comunication techniques,” power Electronics and
motion control conference, IEEE IPMEC 2000, pp. 843-847
[7] Logosol Intelligent Microstepping driver LS-146,
http://www.logosolinc.com/products/ls-146.htm
[8] J. Axelson, “An RS-485Network— in Serial Port Complete,” second
edition, Lakeview Research, Madison WI, 2007, pp. 281-31
[9] M. Aqil, N. Masud, S. M. Pasha and S. Nazir, “a novel control scheme
for real time motion control,” 9th International Multitopic Conference,
IEEE INMIC 2005, pp. 1-5
[10] M. William and S. Terry, “Nonparametric statistics— in Statistics for
Engineering and the Sciences,” Fifth Edition, editorial Prentice Hall,
Upper Saddle River, New Jersey, 2007, pp 755-778.