Uittreksel
In high-end motion control systems, the real-time computational platform must execute tasks from multiple control loops operating at high sampling rates. In recent years, traditional special-purpose platforms have been replaced by general-purpose multiprocessor platforms, which introduce significant fluctuations in execution times. While considering worst-case execution times would severely reduce the sampling rates, accepting deadline misses and assuring that the control system still meets the desired specifications is challenging. In this paper, we provide a framework to model and assert the impact of deadline misses in a real-time control loop. We consider stochastic models for deadline misses and characterize the mean and the variance of closed-loop output variables based on a time-domain analysis. We illustrate the usefulness of our framework in the control of a benchmark motion control experimental setup and in the control of a wafer stage in a lithographic machine.
| Taal | Engels |
|---|---|
| Artikelnummer | 7339675 |
| Pagina's | 1218-1229 |
| Aantal pagina's | 12 |
| Tijdschrift | IEEE Transactions on Industrial Electronics |
| Volume | 63 |
| Nummer van het tijdschrift | 2 |
| DOI's | |
| Status | Gepubliceerd - 1 feb 2016 |
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The impact of deadline misses on the control performance of high-end motion control systems. / Geelen, W.; Antunes, D.; Voeten, J.P.M.; Schiffelers, R.R.H.; Heemels, W.P.M.H.
In: IEEE Transactions on Industrial Electronics, Vol. 63, Nr. 2, 7339675, 01.02.2016, blz. 1218-1229.Onderzoeksoutput: Bijdrage aan tijdschrift › Tijdschriftartikel › Academic › peer review
TY - JOUR
T1 - The impact of deadline misses on the control performance of high-end motion control systems
AU - Geelen,W.
AU - Antunes,D.
AU - Voeten,J.P.M.
AU - Schiffelers,R.R.H.
AU - Heemels,W.P.M.H.
PY - 2016/2/1
Y1 - 2016/2/1
N2 - In high-end motion control systems, the real-time computational platform must execute tasks from multiple control loops operating at high sampling rates. In recent years, traditional special-purpose platforms have been replaced by general-purpose multiprocessor platforms, which introduce significant fluctuations in execution times. While considering worst-case execution times would severely reduce the sampling rates, accepting deadline misses and assuring that the control system still meets the desired specifications is challenging. In this paper, we provide a framework to model and assert the impact of deadline misses in a real-time control loop. We consider stochastic models for deadline misses and characterize the mean and the variance of closed-loop output variables based on a time-domain analysis. We illustrate the usefulness of our framework in the control of a benchmark motion control experimental setup and in the control of a wafer stage in a lithographic machine.
AB - In high-end motion control systems, the real-time computational platform must execute tasks from multiple control loops operating at high sampling rates. In recent years, traditional special-purpose platforms have been replaced by general-purpose multiprocessor platforms, which introduce significant fluctuations in execution times. While considering worst-case execution times would severely reduce the sampling rates, accepting deadline misses and assuring that the control system still meets the desired specifications is challenging. In this paper, we provide a framework to model and assert the impact of deadline misses in a real-time control loop. We consider stochastic models for deadline misses and characterize the mean and the variance of closed-loop output variables based on a time-domain analysis. We illustrate the usefulness of our framework in the control of a benchmark motion control experimental setup and in the control of a wafer stage in a lithographic machine.
KW - data losses
KW - Deadline misses
KW - packet drops
UR - http://www.scopus.com/inward/record.url?scp=84962438868&partnerID=8YFLogxK
U2 - 10.1109/TIE.2015.2504339
DO - 10.1109/TIE.2015.2504339
M3 - Article
VL - 63
SP - 1218
EP - 1229
JO - IEEE Transactions on Industrial Electronics
T2 - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
SN - 0278-0046
IS - 2
M1 - 7339675
ER -