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依托一种智能分布式系统 ,基于 CAN总线技术来实现增益内模控制 ,在上位机与各控制节点之间实现了控制通信 ,并进行了驱动系统闭环实验。实控结果表明较好地解决了因通信周期较长而导致实时控制不好的难题。
Relying on an intelligent distributed system, gain-gain internal model control is realized based on CAN bus technology. Control communication is achieved between the host computer and each control node, and the closed-loop test of the drive system is carried out. The actual control results show that the problem of poor real-time control due to the long communication cycle is well solved.