Olmedo-García, L.F.; García-Martínez, J.R.; Cruz-Miguel, E.E.; Barra-Vázquez, O.A.; Gónzalez-Lee, M.; Martínez-Sánchez, T. Real-Time Embedded System-Based Approach for Sensing Power Consumption on Motion Profiles. Electronics2023, 12, 3853.
Olmedo-García, L.F.; García-Martínez, J.R.; Cruz-Miguel, E.E.; Barra-Vázquez, O.A.; Gónzalez-Lee, M.; Martínez-Sánchez, T. Real-Time Embedded System-Based Approach for Sensing Power Consumption on Motion Profiles. Electronics 2023, 12, 3853.
Olmedo-García, L.F.; García-Martínez, J.R.; Cruz-Miguel, E.E.; Barra-Vázquez, O.A.; Gónzalez-Lee, M.; Martínez-Sánchez, T. Real-Time Embedded System-Based Approach for Sensing Power Consumption on Motion Profiles. Electronics2023, 12, 3853.
Olmedo-García, L.F.; García-Martínez, J.R.; Cruz-Miguel, E.E.; Barra-Vázquez, O.A.; Gónzalez-Lee, M.; Martínez-Sánchez, T. Real-Time Embedded System-Based Approach for Sensing Power Consumption on Motion Profiles. Electronics 2023, 12, 3853.
Abstract
Currently, a wide variety of velocity profiles are used in motion control. Thus, this paper compares the energy consumption of three parabolic, trapezoidal, and S-curve profiles. We studied the case of using embedded systems since they are a powerful solution to monitor and coordinate the movement of devices and machinery in various industries combined with motion control applications. These integrated systems allow precise and efficient control of motors and actuators through control and feedback algorithms. In addition, we propose an alternative methodology for implementing motion controllers using an Advanced RISC Machine (ARM) microcontroller, which computes the trajectory and the control action in real-time. We conducted an experiment using a linear plant composed of a direct current (DC) motor coupled to an endless screw where a carriage is mounted that can move mechanically along a rail a distance of 1.16m. In addition, a 4096 pulses per revolution (PPR) encoder is connected to the motor to measure position and angular velocity, which compute the distance the carriage has moved in meters. A current sensor is used to assess the energy consumption, and 40 tests for each profile were carried out to compare the energy consumption for the three-motion profiles considering cases with and without load on the carriage.
Keywords
power consumption; trapezoidal profile; parabolic profile; S-Curve; embedded systems; microcontroller
Subject
Engineering, Control and Systems Engineering
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.