Sampling time scheduling for a CAN-based dynamical system: A simulation practice

被引：0

作者：

Dahalan, Amira Sarayati Ahmad ^{[1
]}

Husain, Abdul Rashid ^{[1
]}

NorShah, Mohd Badril ^{[1
]}

Zakaria, Muhammad Iqbal ^{[1
]}

Kamarudin, Muhammad Nizam ^{[1
]}

机构：

[1] Univ Teknol Malaysia, Dept Control & Mechatron Engn, Skudai 81310, Johor, Malaysia

来源：

2015 10TH ASIAN CONTROL CONFERENCE (ASCC) | 2015年

关键词：

Terms Networked control system (NCS) Data sampling time with offset scheduling (DSTOS); Maximum allowable loop delay (MALD); Controller Area Network (CAN);

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper addresses the method to obtain maximum allowable loop delay (MALD) for calculation of data sampling time with offset scheduling (DSTOS) for networked dynamic system with multiple control loops via controller area network (CAN). The DSTOS algorithm calculation is based on MALD that is obtained by simulation means in Matlab/Simulink. The step-by-step of MALD selection based simulation is presented. A networked control system of direct-drive 2-DOF SCARA Robot is developed based on CAN where PD controller is adapted to form the dosed loop system. The simulation is performed by using Matlab/Simulink-based TrueTime Toolbox and the implementation of DSTOS for three SCARA robot via CAN is analysed in event of the data latency of control data from sensor to actuator and the performance index, integral square error (IAE) of the link angle. The results and analysis show that the proper selection of sampling time for each control loops can optimize the data traffic and achieve effective utilization of the network bandwidth. It can be deduced that the good control performance can be achieved under proper selecting of MALD and optimal sampling time to the dynamic of the system.

引用

页数：7