Digital Controller Implementation for Electrohydraulic Motion Simulator Based on MAS and RCP

Abstract

A digital controller based on DSP was proposed for electrohydraulic motion simulator. This digital controller not only offered an integral solution for position servo system in motion simulator, but also benefited to illustrate how to combine MAS methodology with RCP technology in complex control system design. By applying MAS methodology, motion simulator's control system was partitioned into cooperated controller agents with clear hierarchy. Digital controller in this paper was implemented as an agent controller corresponding to the role on an actuator's position control. According to the division of controller's agent task, hardware and software platforms were modularized. Furthermore, the software platform was coded using Matlab/Simulink and RTW based on RCP technology, which is distinguished with classic MAS methodology. By integrating RCP technology with MAS methodology, a seamless and efficient route for control system design was provided from system requirement to practical digital controller and the performance of this controller was also investigated.