KEYWORDS: Modeling, Control systems, Computer simulations, Astronomical bodies, Open source software, Motion models, Kinematics, Algorithm development, Systems modeling, Mars
This paper presents a true time simulating system for planetary rovers based on the explicitation modelling. The study introduces a novel explicit dynamic modelling method, namely tree-link and closed-link multibody systems, to provide an explicit and formal representation, resulting in the development of a modular simulation platform. The primary objective of this platform is to offer a reliable and efficient tool for modelling, with high update frequency and true time performance. Within the true time simulating system, we have implemented an advanced control algorithm that is based on the explicit model and capable of perceiving and responding to surface variations on the planet. Additionally, an intuitive user interface has been developed, enabling operators to monitor the status of the planetary rover and interact with it. The platform also provides data logging and analysis capabilities, allowing users to evaluate and enhance their control algorithms. Through a series of experiments and tests conducted on the platform, we have validated its feasibility and performance.
KEYWORDS: Digital signal processing, Control systems, Signal processing, Servomechanisms, Mathematical modeling, Tunable filters, Feedback control, Design and modelling, Process control
In this paper, we present a novel method for implementing three-loop control of motors using digital signal processors (DSP). We introduce a fast current loop algorithm (FCL) to enhance the control performance of the servo motors. The three separate loops include the position, speed, and current control respectively. We implemented the three-loop control of motors using a TI C2000 series DSP and conducted laboratory testing. By comparison with traditional control methods, the proposed control method exhibits higher response speed, lower overshoot and greater resistance to external disturbances and system parameter changes. Hence, this method can be widely adopted in high-performance servo motor control applications
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