제어로봇시스템학회:학술대회논문집
- 2004.08a
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- Pages.1897-1900
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- 2004
A Study on Tracking Control for Networked Multi-Motor Systems
- Lee, Hong-Hee (School of Electrical Engineering, Ulsan University) ;
- Jung, Eui-Heon (School of Electrical Engineering, Ulsan University)
- Published : 2004.08.25
Abstract
In recent years, a lot of industrial equipments have serial communication channel such as FieldBus (CAN, Profibus, etc.) or Ethernet that provides real time communication between industrial equipments. Theses applications include gantry crane, robot, chip mounter, etc.. In this paper, we discuss the synchronization technique for networked multi-motor systems where controllers (commercial servo amps) are distributed and interconnected by CAN (Controller Area Networks). We first describe the equivalent model for the individual servo-amp and motor using the frequency response. We design the
Keywords
- $H{\infty}$ controller;
- networked multi-motor systems;
- CAN(Controller-Area-Network);
- synchronization technique