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메시지 지연시간을 고려한 CAN 기반 피드백 제어시스템의 웅답특성 분석
전종만,김대원 대한전기학회 2002 전기학회논문지 D Vol.51 No.5
- 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.
CAN 프로토콜을 이용한 네트워크 기반 제어 시스템의 구조 분석
전종만,김대원 명지대학교 산업기술연구소 2001 産業技術硏究所論文集 Vol.20 No.-
This paper analyses an architecture of network-based control system and deals with its application using the CAN protocol. It is difficult to determine an optimal network architecture for a specific system. In this paper, we propose the architecture of network-based control system applicable to a specific AGV system with manipulator arms. The fixed number of periodic messages to be occurred in pre-defined in this system. These messages are scheduled by applying the DMS algorithm. To determine whether the proposed system architecture is effective or not, we perform traffic analysis for the real-time communication of all messages. Through simulation, the possible maximum transmission speed is found and the number of possible sensors to be added is investigated for improving the system performance, when the sampling period of an analog sensor is determined under fixed condition that transmission speed is over 500Kbits/sec.
네트워크 지연시간을 고려한 CAN 기반 피드백 제어시스템의 응답특성 분석
전종만,김대원 明知大學校 産業技術硏究所 2002 産業技術硏究所論文集 Vol.21 No.-
The paper analyzes the response characteristics of the system when considering the message delay time for a message transfer in a CAN-based control system. The message delay time is composed of a computation delay time and a communication delay time. The application layer of CAN communication is modeled in order to analyze two kinds of delay time mathematically and the communication delay is re-defined under the limited conditions. The CAN-based feedback control system is proposed as a target system that is the machining system with three axes. The response delay characteristics of the proposed system is analyzed through simulation and is improved by the compensation using the PID tuning method to meet the design specification of the system.