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CAN- Based Synchronized Motion Control for Induction Motors
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CAN-based Synchronized Motion Control for
Induction Motors

A control area network (CAN) based multi-motor synchronized motion control system with an advanced synchronized
control strategy is proposed in this article. adjacent cross-coupling control strategy is incorporated into into the sliding mode control architecture to achieve it.

Sliding-mode adjacent cross-coupling
control strategy of multi-motor synchronization:
Networked control system is flexible and expandable. to improve motion
accuracy, applying the advanced motion control strategy to
the distributed CAN bus synchronized motion control system
becomes very important.
Adjacent cross-coupling control strategy:
If there are n induction motors in the system, each controller of the multi-motor
motion control system is designed to stabilize its speed
tracking, while synchronizing the speed between this controller
and other two controllers with adjacent sequence
number. the synchronized
motions of all motors can be achieved by using the above strategy.

Sliding-mode adjacent cross-coupling
When using this strategy, the
i-th motor synchronization speed controller includes two
parts: one tracking error controller to track the desired speed accurately and two synchronization error controllers to eliminate the synchronization
errors between the controlled motor and its adjacent

Multi-motor synchronized motion
control system based on CAN bus

Applications of CAN bus:
The CAN bus is a serial communication protocol which
supports distributed real-time control with low cost and high reliability.
In the system, the central industrial computer receives speed measurement
messages of each motion controller and sends synchronization
messages to all motion controllers via the CAN. new speed command
adopting the adjacent cross-coupling control strategy
can be calculated based on the prsent recieved signals through the CAN. The motion controller has 32 mailboxes that can be
configured to transmit or receive messages. On recieving
complete speed commands, the motion controller can
select the useful command according to the ID number of the mailbox.

The single motion control system:
The single-motor control
system for an alternating current (AC) induction motor consists of a TI DSP TMS320F2812,
the protection circuit, the insulated gate bipolar transistor
(IGBT) power stage, the AC induction motor with optical
encoder and hall sensors. It converts the instantaneous
motor speed measurement to a packet, and then send it to
the central controller and also sends out pulse
width modulator (PWM) signals to the power stage to drive
the induction motor.

The multi-motor synchronized motion
control system:
It consists of consists of the CAN bus network, the industrial
computer, and some single motion control systems.The communication channel between the industrial
computer and the motion controller is the CAN bus.


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