Clustered-architecture motion control system utilizing IEEE 1394b communication network

This paper presents a scalable control system for synchronized control of complex multi-axis non-linear machines utilizing a communication network based on the IEEE I394b high-speed serial bus standard. The system introduces a unique clustered architecture which allows for a high level of centralization of control algorithms in clusters of remote controllers in selected areas while promoting distribution of control algorithms running on substantially autonomous controllers in other areas. As a result, high performance control can be achieved where necessary without burdening the entire communication network by a heavy time-critical traffic and impairing the overall scalability of the control system. The distributed nature of the control system opens numerous challenges in the areas of implementation of model-based control, synchronization of individual controllers, and handling of events associated with inputs on multiple controllers. The paper proposes practical solutions to these challenges in the framework of the IEEE 1394b standard.