Networked control method for nonlinear two-time-scale system (NTTSS) with random packet loss

A technology of networked control and random packet loss, which is applied in the field of networked control of nonlinear dual-time-scale systems with random packet loss, and can solve problems such as the inability to eliminate NTTSSs steady-state errors

Inactive Publication Date: 2015-04-29
AUTOMATION RES & DESIGN INST OF METALLURGICAL IND
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Problems solved by technology

[0003] The purpose of the present invention is to provide a networked control method for a nonlinear dual-time-scale system with random packet loss, a networked control method for a complex nonlinear dual-time-scale system with random packet loss, and solve the problem of existing complex system network control methods Steady-state error problems caused by fast variables of NTTSSs cannot be eliminated

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  • Networked control method for nonlinear two-time-scale system (NTTSS) with random packet loss
  • Networked control method for nonlinear two-time-scale system (NTTSS) with random packet loss
  • Networked control method for nonlinear two-time-scale system (NTTSS) with random packet loss

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[0074] Next, the method of the present invention is applied to the network motor control system, and its implementation method is described. The network motor control system consists of a computer, a DC motor, a circuit board, and sensor network connection components. Its structure diagram is as follows: image 3 shown. There is a physical clock inside the sensor to realize time driving. The board is connected to the motor and the sensor separately and set up to be time driven. The board keeps in sync with the sensor by using its physical clock. The board integrates the actuator functions and associated network protocols. At each sampling instant, the sensor passes the sampled signal to the circuit board. The circuit board encapsulates the sampling signal into a data packet and sends it to the controller. At the same time, the circuit board reads the control signal in the buffer and converts it into a pulse width modulation signal to control the DC motor.

[0075] Step 1....

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Abstract

The invention discloses a networked control method for a nonlinear two-time-scale system (NTTSS) with random packet loss, and belongs to the technical field of networked control of a complex system. By fusing fuzzy logic, a singular perturbation technique and a random system theory, the method comprehensively considers the nonlinear two-time-scale coexistence characteristic of a controlled system and the random packet loss problem caused by network communication under a unified model framework, a discrete fuzzy singular perturbation model of the networked NTTSS is established, and a random fuzzy state feedback robust control method is disclosed. The network control method has the advantages that the problem that system unstability or steady-state errors caused by a fast variable of the complex two-time-scale system cannot be eliminated in an existing network control method is solved, and the networked control performance of NTTSSs is greatly improved.

Description

technical field [0001] The invention belongs to the technical field of networked control of complex systems, and in particular provides a networked control method for a nonlinear dual-time-scale system with random packet loss. The networked control method in the case of packet loss is suitable for high-precision networked control of complex nonlinear dual time-scale systems (Nonlinear Two Time-Scale Systems, abbreviated as NTTSSs), and can be applied to flexible arms of steel robots, medical robotic arms, and High-precision networked control of NTTSSs such as flexible spacecraft. Background technique [0002] With the rapid development of computer technology, Networked Control Technologies for Complex Systems (NCTFCSs for short) has been deeply studied and widely used in telemedicine, intelligent transportation, aerospace and other fields. However, problems such as the characteristics of the controlled system and the delay and packet loss induced by the network often cause ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 陈金香
Owner AUTOMATION RES & DESIGN INST OF METALLURGICAL IND
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