Quadrature encoder signal emulation for Integrated Real-Virtual Environments and Systems

Integrated real-virtuality (R-V) environments and systems involve the investigation on how 3-D virtual environments can be used for the integration of design, simulation and controller program development of a typical manufacturing system. The study evolved around the adoption of 3-D simulation models being used as virtual machines and being controlled by a real controller. The controller can be programmed, tested, verified and validated in real time and the action of the machine is realised in the 3-D model. A new method which employs the use of a control signal emulator has been proposed. Within the study a novel technique for emulating quadrature encoder signals to provide virtual closed loop control of servomotors has been formulated. The deployment of a control signal emulator technique makes the system unique and removes its dependency on specific hardware.