대한전기학회논문지:시스템및제어부문D (The Transactions of the Korean Institute of Electrical Engineers D)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

메시지 지연시간을 고려한 CAN 기반 피드백 제어시스템의 응답특성 분석

Analysis of Response Characteristics of CAN-Based Feedback Control System Considering Message lime Delays

  • 전종만 (명지대 공대 정보통신공학과) ;
  • 김대원 (명지대 공대 정보공학과)
  • 발행 : 2002.05.01
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초록

In this paper, the response characteristics of CAN-based feedback control system are analyzed when message time delays through the network are considered. The message time delays are composed of computation time delay and communication time delay. The application layer of CAN communication is modeled mathematically to analyze two time delays, and the communication time delay is redefined under several assumption conditions. The CAN-based feedback control system is proposed as a target system that is the machining system with the three axes. The response characteristics of time delays in the proposed system are analyzed through computer simulations, and can be improved by the compensation using the PID tuning method to satisfy the design specifications of the system.

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참고문헌

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