Real-Time Embedded System-Based Approach for Sensing Power Consumption on Motion Profiles

This paper discusses the energy consumption of three parabolic, trapezoidal, and S-curve profiles when implemented using an embedded system. In addition, it presents alternative methodology for implementing motion controllers Advanced RISC Machine (ARM) microcontroller, which computes trajectory performs control action in hard real-time. We experimented a linear plant composed direct current (DC) motor coupled to endless screw where carriage was mounted. It can move mechanically along rail at distance 1.16 m. A 4096 pulses per revolution (PPR) encoder connected calculate position angular velocity. Hall-effect-based sensor used assess consumption. conducted 40 tests each profile compare profiles, considering cases with without load on carriage. determined that parabolic provides 22.19% lower than other considered this study, whereas exhibited highest