MoonControl

A lightweight motion control algorithm library written in MoonBit.

Overview

MoonControl is a motion control algorithm library developed in MoonBit.

The project aims to provide reusable and modular control algorithms for robotics, CNC systems, automation equipment and other motion control applications.

Motivation

Motion control systems usually require many basic algorithm modules, including PID controllers, filters, interpolation algorithms and trajectory planning.

MoonControl attempts to build a native MoonBit implementation of these common algorithms, providing simple APIs and reusable components.

Project Status

Work in progress.

Development Progress

Day 1

• Created MoonControl project
• Initialized MoonBit development environment
• Designed project architecture
• Planned core algorithm modules

Day 2

• Implemented basic PID controller
• Added PID state management
• Added proportional, integral and derivative calculation
• Added PID update interface
• Verified PID closed-loop response with example

Day 3

• Improved PID controller for industrial motion control
• Added configurable sampling period
• Added output saturation limit
• Added integral anti-windup protection
• Added PID parameter configuration interface

Day 4

• Added digital filter module
• Implemented first-order low-pass filter
• Implemented moving average filter
• Added reusable filtering interfaces for motion control signals

Day 5

• Added trajectory planning module
• Implemented trapezoidal velocity profile
• Added position and velocity generation interface
• Support acceleration and velocity constraints

Day 6

• Added motion constraint module
• Implemented velocity limiting
• Implemented acceleration limiting
• Implemented jerk limiting
• Improved command smoothing for motion control

Day 6 Demo

Integrated motion constraint module into the control pipeline.

Control flow:

Trajectory Planner | v Motion Limiter | v Low Pass Filter | v PID Controller

The demo shows:

• trajectory generation
• command smoothing
• feedback filtering
• closed-loop control simulation

Planned Features

Control Algorithms

• PID controller
• PID with output limitation
• PID with anti-windup

Signal Processing

• Moving average filter
• Low-pass filter
• First-order filter

Motion Planning

• Linear interpolation
• Trapezoidal velocity planning
• S-curve trajectory planning

Utility Modules

• Saturation limiter
• Error calculation
• Numerical tools

Target Applications

• Robot motion control
• CNC machine tools
• Industrial automation
• Embedded motion systems

License

Apache-2.0