Can-bus application system in close loop control systems for heavy machines

This paper describes the examples of practical applications of CAN-bus system in close control loop system of the equipment for the heavy machines. The document covers three topics. The first one is using CAN-bus in control systems, its pros (small cable harness, easier servicing, etc.) and cons (such as asynchronous data transfer, availability of drivers). The document describes how design of network may minimize impact of cons. There is simulator focused on data acquisition system parameters (such as resolution, asynchronous factor, control loop time) described in the second topic. The role of simulator is to estimate minimal requirements of data acquisition system to achieve desired precision of results while using specified control algorithm. The last topic presents an idea of control algorithm based on stabilization of velocity vector. The aim of that algorithm is to realize trajectory in situation when very exact coordination of hydraulic cylinder rods is needed.