CAN-based motion control design

Applying the controller area network (CAN) bus, this paper proposes the integration of three advanced motion control designs: (1) the zero phase error tracking control (ZPETC) mainly for each individual axis in the multi-axis system, (2) the zero magnitude error tracking control (ZMETC) for each individual axis at the high speed in the multi-axis system and (3) the cross-coupled control (CCC) for multiple axes of the whole system. The ZPETC and CCC or ZMETC and CCC serve to improve tracking and contouring motion accuracy, respectively. Experimental results on two AC servomotors show significantly improved motion accuracy, demonstrate the feasibility of the proposed approach.