Abstract
This paper describes design using state-transition methodology. This state-transition methodology is straightforward, with a simply-perceived relation between the programming and the corresponding sequential function. The current operational function of the system is described as the current state of the system using state-transition programming. The state transition diagram or table describes the current state and the conditions for transition. The operation is transferred to a corresponding destination state when a set of conditions become valid for leaving the current state. Thus, the sequential operation is explicit, and any continuous conditions scanning (from command source and sensors) only include those that are pertinent for leaving the current state. The methodology is highly-structured and efficient, the programming tasks are readily comprehensible, and fault diagnostics can be easily included within the program's structure. The presented application of an automatic sliding-door illustrates the feasibility of this approach. This paper presents the MFSM (Modular Finite-State Machine), the ECA (Event-Condition-Action) system, motion generation, motion control with load estimation, and an example of a DSP (Digital Signal Processor) system. The limitations and attributes of each technique are discussed, and a state-table format is presented with the capability of representing parallel asynchronous sequential processes.
Highlights
Hybrid systems [1], covering the heterogeneous continuous, and discrete event natures of dynamic systems are well-known academic approaches
The second technique describes FSM with multiple state sub-levels. Such a technique is recommended in systems with small complex systems for example a motion generator with seven basic states and multiple state sub-levels
The contribution of this work is to demonstrate such a technique with multiple sub-states, on a custom-made mechatronic application with DSP controller. Such a design was proposed for the rapid software improvement of an automatic sliding-door control. Such a design technique is recommended for the rapid control development of mechatronic systems for robust control, without serious program bugs
Summary
Hybrid systems [1], covering the heterogeneous continuous, and discrete event natures of dynamic systems are well-known academic approaches. FSM, using multiple state sub-level designs, parses the complex working process into small modular working processes Such a program-code can be easier for debugging and maintenance. The contribution of this work is to demonstrate such a technique with multiple sub-states, on a custom-made mechatronic application with DSP controller Such a design was proposed for the rapid software improvement of an automatic sliding-door control. An S-shaped velocity motion generator designed in FSM with multiple state sub-levels improved the door’s functionality (lower motor current peak, smoother movement, improved safety, decreased motor heating, etc.). The door control software designed in FSM is divided into continuous and discrete-event spaces (Fig. 2). The basics of S speed-profile are known and widely-used in motion controllers around the world This means that the algorithm core is known but the design has been changed for automatic door control purposes. In this case the door changes movement direction or stops with an error indicator after three subsequent attempts
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