The synchronizing of loosely coupled distributed real time system
P. Tuominen, Tapio Virvalo · 2002
In this paper the control architecture and the characteristics of the synchronization of an industrial application are presented. The control procedure is implemented with a loosely coupled distributed real time system, where parallel processing is possible. There are five nodes in the network, one master actuator, three slave actuators and a machine controller. All nodes are implemented using Motorola's 68332 controller. The position and velocity of the master are transmitted as a command to slaves. The network protocol used is CAN (controlled area network). On-line correction and synchronization are done through a serial based network. In this paper synchronization methods, characteristics of CAN, control architecture electronics used are introduced.>