An Open-Access Educational Tool for Teaching Motion Dynamics in Multi-Axis Servomotor Control

作者：Rooney Rivera Guillen Jesus; de Jesus Rangel Magdaleno Jose; de Jesus Romero Troncoso Rene; Alfredo Osornio Rios Roque; Gerardo Guevara Gonzalez Ramon

来源：IEEE Transactions on Education, 2012, 55(2): 218-225.

DOI：10.1109/TE.2011.2162106

• Dynamics
• motion control
• numerical control
• servomotors
• spline functions

Servomotors are widely used in computerized numerically controlled (CNC) machines, hence motion control is a major topic covered in undergraduate/graduate engineering courses. Despite the fact that several syllabi include the motion dynamics topic in their courses, there are neither suitable tools available for designing and simulating multi-axis motion control nor an efficient link between theory and practice. This paper proposes an educational, open-source tool for teachingmotion dynamics inmulti-axis servomotor control. The tool allows students to generatemulti-axis motion and export these movements for their application to a CNC machine. A simulationmodule is embedded for evaluating the controller performance. The proposed educational tool allows the use of the inductive pedagogic method to support student learning. Eleven lab practicals are described to show how the proposed tool can be utilized for the systematic teaching of motion dynamics.

• 出版日期2012-5