A CAN Based Real-Time Embedded System for DC Motor Control 2002-01-0444

This paper describes a design of a system that controls the speed and direction of a small DC motor though a network system. This work is important as large numbers of motors are employed inside a modern vehicle. Moreover most of the electronic devices inside a vehicle are networked through a Controller Area Network (CAN). The system uses commands from a CAN node and sends this message through a CAN bus to another CAN node which is controlling the DC motor. The system uses two Phytecs boards (Infineon C505C Microcontrollers based) and communicates through a CAN bus. The system bus is monitored with a Dearborn Protocol Adapter II (DPA-II). The system is broken into four major parts: two CAN nodes, the driver circuitry, and a feedback sensor. This paper provides detailed design, flow chart of the programs and testing of the system.