Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Inverted Cart Pendulum Control Using CAN(Controller Area Network)

CAN(Contro1ler Area Network)을 이용한 역진자 시스템 제어

  • Choi, Seong-Seop (School of Electronics Engineering, Ajou University) ;
  • Yu, Lae-Sung (School of Electronics Engineering, Ajou University) ;
  • Hong, Suk-Kyo (School of Electronics Engineering, Ajou University)
  • 최성섭 (아주대학교 전자공학부) ;
  • 유래성 (아주대학교 전자공학부) ;
  • 홍석교 (아주대학교 전자공학부)
  • Published : 2003.07.21
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Abstract

This paper considers a networked control system (NCS) that consists of an inverted cart pendulum, a digital controller, and a controller area network (CAN) in which the actuator and sensors of the pendulum are connected to form a closed-loop system. The worst-case message response time (WCMRT) in the CAN is analyzed and the analysis results are applied to the target control system. For the case where the control system cannot satisfy the WCMRT condition and therefore time delays are inevitable, the Luck and Ray method is used to compensate the network-induced time delays. Simulations are carried out to show the feasibility of the proposed scheme.

Keywords