DESIGN AND IMPLEMENTATION OF A DIGITAL POSITIONING SYSTEM WITH CONTROLLED JERK

In this paper design and implementation of a digital tracking control system is considered. This system provides tracking a trajectory where the jerk is changed to a pre-determined sine manner. As a control system there is used the combination of a feedforward and feedback controller. An electromechanical system that is formed from an actuating device and a load is used as an object. To advance certain changes of the jerk and the given maximum values of acceleration, velocity and displacement, the algorithm of the trajectory planning is also proposed. The designed control system is experimentally realized, where a DC motor with a load is used as the object. To measure the position and other parameters of movement, a two-channel optical encoder by appropriate resolution was used. The control software is implemented using the Arduino microcontroller's platform, where the control signals are realized as a PWM signals. The experimental results confirm the proposed theory