DEVELOPMENT OF A REAL-TIME SERVO CONTROL TEST BENCH

Servomechanism control problems generally include velocity control, po sition or tracking control, force control, and multiaxial (synchronous ) motion control, This paper presents an innovative real-time system, named ''Servomechanism Control Test Bench'' (SCTB), designed to provid e a benchmark for robust control experiments, The system, including ha rdware and software, combines a unique experimental apparatus with an easy-to-use software platform based on Matlab, Simulink, and dSPACE. T he servomechanism hardware, which is a modular set of motors and drive shafts, can be easily reconfigured to set up a variety of experiments , The software, which consists of a user interface and a real-time con trol program, provides an opportunity for users to implement control d esign on-line and verify the performance of the controllers, Using thi s integrated setup, Servo Control desing-evaluate-experiment cycles ma y be completed on a real-time test rig in only a few minutes.