Closing the motion control loops via industrial ethernet network
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23520%2F14%3A43922575" target="_blank" >RIV/49777513:23520/14:43922575 - isvavai.cz</a>
Result on the web
<a href="http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6843611&queryText%3Dclosing+the+motion+control+loops" target="_blank" >http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6843611&queryText%3Dclosing+the+motion+control+loops</a>
DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Closing the motion control loops via industrial ethernet network
Original language description
This paper deals with a problem of feedback compensator design for motion control loops equipped with industrial Ethernet communication protocols. The main goal of the paper is to choose proper control structures for a supervisory control system which have to deal with the time delay caused by the communication channel and compare the results with a standard cascade control scheme which is implemented directly in a frequency converter. The discrete-time state-space model of~the~system is derived and several advanced algorithms for~time delay compensation are proposed and evaluated by~simulations. Finally, the validity of~the~used methods is verified experimentally with a Yaskawa servo-drive equipped with EtherCat communication protocol. It is shown that proper control structure is able to compensate the effects of~communication delay and the results are comparable to direct implementation of the motion control loop in~the~frequency inverter.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
BC - Theory and management systems
OECD FORD branch
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Result continuities
Project
<a href="/en/project/TA02010247" target="_blank" >TA02010247: Advanced motion control system for robotic and mechatronic applications</a><br>
Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2014
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Control Conference (ICCC), 2014 15th International Carpathian
ISBN
978-1-4799-3528-4
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
273 - 278
Publisher name
VŠB - Technical University of Ostrava
Place of publication
Velké Karlovice
Event location
Velke Karlovice
Event date
May 28, 2014
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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