| 基于CAN总线伺服控制系统的设计及控制方法 |
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| 引用本文： | 王帅宇,张宇河,郭萱.基于CAN总线伺服控制系统的设计及控制方法[J].北京理工大学学报,2006,26(5):421-424. |
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| 作者姓名： | 王帅宇 张宇河 郭萱 |
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| 作者单位： | 北京理工大学,信息科学技术学院自动控制系,北京,100081;北京理工大学,信息科学技术学院自动控制系,北京,100081;北京理工大学,信息科学技术学院自动控制系,北京,100081 |
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| 摘 要： | 为了深入研究闭环网络控制系统中延时对控制性能的影响和延时补偿方法,将控制器局域网(CAN)总线应用到伺服控制系统中,组成具有总线式网络拓扑结构的分布式控制系统,研究了该运动控制系统实验平台的总体组成和实现.针对该网络控制系统存在的实际问题设计了控制器,有效地提高了系统性能,实验结果验证了其有效性.
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| 关 键 词： | CAN总线 Smith预估器 伺服控制系统 延时补偿 |
| 文章编号： | 1001-0645(2006)05-0421-04 |
| 收稿时间： | 11 3 2005 12:00AM |
| 修稿时间： | 2005年11月3日 |
Design and Research on Control Method of Servo Control System Based on CAN Bus |
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| WANG Shuai-yu,ZHANG Yu-he and GUO Xuan.Design and Research on Control Method of Servo Control System Based on CAN Bus[J].Journal of Beijing Institute of Technology(Natural Science Edition),2006,26(5):421-424. |
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| Authors: | WANG Shuai-yu ZHANG Yu-he and GUO Xuan |
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| Institution: | Department of Automatie Control, School of Information Seienee and Teehnology, Beijing Institute of Teehnology, Beijing 100081, China |
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| Abstract: | In order to study the effect of network delay and methods of delay compensation in the networked closed loop control systems,controller area network(CAN) bus is applied to servo control system to constitute a distributed control system with bus mode network topology.An experiment platform for the organization and implementation of motion control system is introduced and a controller is designed to solve the actual problems of networked control system.Experiments are performed to testify the feasibility of the scheme presented in the paper. |
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| Keywords: | CAN bus Smith predictor servo control system delay compensation |
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