| Title |
Analysis of Response Characteristics of CAN-Based Feedback Control System Considering Message lime Delays |
| Authors |
전종만(Jeon, Jong-Man) ; 김대원(Kim, Dae-Won) |
| Keywords |
Time delays ; Real-time control system ; CAN protocol ; PID tuning |
| Abstract |
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. |