標題: | CAN-based motion control design |
作者: | Hsieh, CC Wang, AP Hsu, PL 電控工程研究所 Institute of Electrical and Control Engineering |
關鍵字: | distributed control;multi axis control;tracking error;contouring error;CAN bus |
公開日期: | 2003 |
摘要: | Applying the controller area network (CAN) bus, this paper proposes the integration of three advanced motion control designs: (1) the zero phase error tracking control (ZPETC) mainly for each individual axis in the multi-axis system, (2) the zero magnitude error tracking control (ZMETC) for each individual axis at the high speed in the multi-axis system and (3) the cross-coupled control (CCC) for multiple axes of the whole system. The ZPETC and CCC or ZMETC and CCC serve to improve tracking and contouring motion accuracy, respectively. Experimental results on two AC servomotors show significantly improved motion accuracy, demonstrate the feasibility of the proposed approach. |
URI: | http://hdl.handle.net/11536/18493 |
ISBN: | 0-7803-8352-4 |
期刊: | SICE 2003 ANNUAL CONFERENCE, VOLS 1-3 |
起始頁: | 2504 |
結束頁: | 2509 |
顯示於類別: | 會議論文 |