The control of a Mobile Inverted Pendulum with EtherCAT

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  • Han, Jong-Ho (Electronics Engineering, Pusan national University) ;
  • Ryu, Tae-Yeol (Electronics Engineering, Pusan national University) ;
  • Lee, Jang-Myung (Electronics Engineering, Pusan national University)
  • Received : 2011.11.23
  • Accepted : 2012.06.13
  • Published : 2012.08.31


The Industrial Ethernet technology enables advanced control architectures and offers several advantages for high precision multiple motors actuation. This paper presents the implementation and analysis of a motor drive with EtherCAT, an industrial standard for real time Ethernet. Considering the characteristics of the implemented software and the network interface, the motion and time-response of motor actuation for the networked Mobile Inverted Pendulum have been analyzed. Using the analysis with the task execution times measured from the developed drive, the performance characteristics of the drive in respect of the maximum achievable throughput have been verified by comparing to the conventional RS232.


Supported by : NIPA(National IT Industry Promotion Agency)


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