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CAN을 통신매체로 하는 역진자 시스템의 제어
Control of an Inverted Pendulum System with CAN for Communication Medium

조성민   ((주)삼성전자CC0101996  ); 최현철   (아주대학교 전자공학부UU0000892  ); 홍석교   (아주대학교 전자공학부UU0000892  );
  • 초록

    In a networked control system (NCS), time delays which are larger than one sampling period can change the control period. As a result, it may cause system instability. This paper presents a control method for an NCS using the controller area network (CAN), where time delays arise in the control loop. Specifically, a simple yet efficient method is proposed to improve control performance in the presence of time delays. The proposed method, which can be regarded as a gain scheduling method, selects a suitable LQ control gain among several gains to deal with the problems due to the change of control period. It is found that the gain can be scheduled in terms of the relation between the gain and the sampling period, which is represented by first-order algebraic equations. The proposed method is evaluated with an inverted cart pendulum system where the actuator and sensors are connected through the CAN. Experiment results are presented to show the efficiency of the proposed method.


  • 주제어

    time delay .   gain scheduling .   controller area network .   inverted pendulum.  

  • 참고문헌 (16)

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    13. J. R. Cloutier, C. N. D'Souza, and C. P. Mracek, 'Nonlinear regulation and nonlinear H_{\infty}$ control via the state-dependent Riccati equation technique-Part I theory,' Proc. 1st Int. Conf. Nonlinear Problems in Aviation and Aerospace, Daytona Beach, FL, pp. 117-130, 1996 
    14. J. R. Cloutier, C. N. D'Souza, and C. P. Mracek, 'Nonlinear regulation and nonlinear H_{\infty}$ control via the state-dependent Riccati equation technique-Part 2 example,' Proc. 1st Int. Conf Nonlinear Problems in Aviation and Aerospace, Daytona Beach, FL, pp. 130-147, 1996 
    15. Quanser Consulting Inc., IP02 User's Manual. Markham, Ontario, Canada, 2003 
    16. Texas Instruments Inc., TMS320F/C240 DSP Controllers Peripheral Library and Specific Devices Ref Guide (Rev. D). Dallas, TX, Nov. 2002 

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