Closed-loop, Fieldbus-based Clock Synchronisation for Decentralised Control Systems

  • Robert Koninckx
  • Hendrik Van Brussel


The absolute positioning accuracy of a motion control system is, making abstraction of errors induced by imperfections of the transmission, completely determined by the positioning accuracy of the individual actuators. Accurate contouring additionally requires high degrees of synchronisation between actuators. Indeed, the superposition of two orthogonal and sinusoidal movements only results in a perfect circle if both have exactly the same frequency and if they are out of phase by exactly ninety degrees.


Phase Noise Frequency Noise Synchronisation Error Controller Area Network Contour Error 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Allan DW (1966) Statistics of atomic frequency standards. Proceedings of the IEEE 54:221–231CrossRefGoogle Scholar
  2. 2.
    Allan DW (1987) Time and Frequency Characterization, Estimation, and Prediction of Precision Clocks and Oscillators. IEEE Transactions on Ultrasonics, Ferroelectrics and Frequency Control 34:647–654Google Scholar
  3. 3.
    Allan DW (1989) In Search of the best clock. IEEE Transactions on Instrumentation and Measurement 38:624–630CrossRefGoogle Scholar
  4. 4.
    Allan DW, Ashby N, Hodge CC (1997) The science of timekeeping, application note 1289. (Hewlett-Packard Company technical report number 5965–7984E)Google Scholar
  5. 5.
    Allan DW, Barnes J, Cordara F, Garvey M, Hanson W, Kinsman R, Kusters J, Smythe R, Walls FL (1992) Precision Oscillators: Dependence of Frequency on Temperature, Humidity and Pressure. In: Proceedings of the 1992 IEEE Frequency Control Symposium, pp 782–793Google Scholar
  6. 6.
    Barnes JA (1971) Characterization of frequency stability. IEEE Transactions on Instrumentation and Measurement 20:105–120CrossRefGoogle Scholar
  7. 7.
    Demeester E, Koninckx R, Waarsing BJW, Vanhooydonck D, Nuttin M, Van Brussel H (2002) An innovative decentralised motion control architecture for a humanoid robot. In: Proceedings of the 5th International Conference on Climbing and Walking Robots. pp 859–866Google Scholar
  8. 8.
    Franklin GF, Powell JD, Emami-Naeini A (1994) Feedback control of dynamic systems. Addison-Wesley, ReadingGoogle Scholar
  9. 9.
    Greenhall CA (1998) Spectral Ambiguity of Allan Variance. IEEE Transactions on Instrumentation and Measurement 47:623–627CrossRefGoogle Scholar
  10. 10.
    Koninckx R, (2003) Modular, Distributed Motion planning, Interpolation and Execution. Ph.D. thesis, Katholieke Universiteit LeuvenGoogle Scholar
  11. 11.
    Koninckx R, Van Brussel H, Demeulenaere B, Swevers J, Meijerman N, Peeters F, Van Eijk J (2001) Closed-Loop, Fieldbus-Based Clock Synchronisation for Decentralised Control Systems. In: Proceedings of the CIRP first international conference on agile, reconfigurable manufacturing.Google Scholar
  12. 12.
    Meyr H, Ascheid G (1990) Synchronization in Digital Communications. John Wiley & Sons, New YorkGoogle Scholar
  13. 13.
    Mills DL (1994) Precision synchronization of computer network clocks. ACM Computer Communication Review 24:28–43CrossRefGoogle Scholar
  14. 14.
    Mills DL (1995) Improved Algorithms for Synchronizing Computer Network Clocks. IEEE/ACM Transactions on networking 3:245–254CrossRefMathSciNetGoogle Scholar
  15. 15.
    Razavi B (1996) Monolithic Phase-Locked Loops and Clock Recovery Circuits: Theory and design. IEEE Press, PiscatawayGoogle Scholar
  16. 16.
    Thielemans H (1998) Motion User Requirements Specification. (Requirements specification by the Katholieke Universiteit Leuven for the Brite-Euram III project BRPR-CT97-0362 MOTION)Google Scholar
  17. 17.
    Van Den Haspel RC (2000) Tuning and performance measurements FIDIA Demonstrator. (Philips CFT technical report number CTB595-00-2154)Google Scholar
  18. 18.
    Walls FD, Allan DW (1986) Measurements of frequency stability. Proceedings of the IEEE 74:162–168Google Scholar
  19. 19.
    (1991) BOSCH CAN Specification. (Version 2.0, Published by Robert Bosch GmbH, Postfach 50, D-7000 Stuttgart 1)Google Scholar
  20. 20.
    (1996) CAL-based Communication Profile for Industrial Systems. (CiA Draft Standard 301, version 3.0)Google Scholar

Copyright information

© Springer 2006

Authors and Affiliations

  • Robert Koninckx
    • 1
  • Hendrik Van Brussel
    • 2
  1. 1.Flanders Mechatronics Technology CentreLeuven (Heverlee)Belgium
  2. 2.Faculty of Engineering, Department of Mechanical Engineering Division of Production Engineering, Machine Design & AutomationKatholieke Universiteit LeuvenLeuven (Heverlee)Belgium

Personalised recommendations