Method of DC motor networked tracking controller

A technology for tracking controllers and DC motors, applied in adaptive control, general control systems, control/regulation systems, etc., can solve problems such as ignoring sensor-to-controller delays

Inactive Publication Date: 2018-03-30
NANJING UNIV OF POSTS & TELECOMM
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Problems solved by technology

In the literature "Sliding Mode Controller Design for a Class of Uncertain Networked Control Systems (Control and Decision, 2006, 21(10): 1197-1200)", a networked control system with uncertainty and external disturbance is designed A sliding mode control method, which is robust t

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  • Method of DC motor networked tracking controller
  • Method of DC motor networked tracking controller
  • Method of DC motor networked tracking controller

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Embodiment Construction

[0074] In order to make the technical scheme and design idea of ​​the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings.

[0075] Such as Figures 1 to 4 Shown, the method for DC motor networked tracking controller, described scheme comprises the following steps:

[0076] Step 1) Establish a DC motor control system model considering time-varying network-induced delay.

[0077] Considering the case that the network-induced delay is less than one sampling period, the networked DC motor control system is described as a discrete-time linear time-varying system with one-step input delay, and then the uncertain system method is used to deal with the system uncertainty caused by the time-varying delay. Certainty, including the following processes:

[0078] 1.1) Establish the continuous time system state equation of the DC motor

[0079] make The continuous-time state equation of a DC motor can be expressed as:

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Abstract

The invention relates to a method of a DC motor networked tracking controller. The method comprises the steps of (1) establishing a DC motor discrete system state equation with the consideration of atime-varying network induced delay, describing the DC motor system as a discrete-time norm bounded uncertain system with a one-time input delay, and using an uncertain system method to process an exponential time-varying problem in a motor state equation, (2) establishing a closed-loop system model of a DC motor networked tracking control system containing uncertainties, wherein the closed-loop system is an uncertain augmented closed-loop system with the one-step input delay, and (3) designing the DC motor networked tracking controller including the steps of firstly carrying out H-infinity performance analysis on the closed-loop system to verify stability and then designing the networked tracking controller, wherein the time delay is divided into a mean part and an uncertainty part in modeling, a networked control system is described as a class of discrete-time norm bounded uncertain system, and a networked H-infinity tracking control strategy is used to design a state feedback controller.

Description

technical field [0001] The invention relates to a networked tracking controller method for a DC motor, which belongs to the field of networked control, and specifically relates to how to eliminate the influence of time-varying network-induced time delay on the performance of a DC motor control system. Background technique [0002] With the continuous development of computer and network technology, automation technology is gradually developing towards networking and informationization, and the network control system (NCS) has emerged as the times require, and its application range has become wider and wider. Especially in recent years, network control is used in motors, Aerospace and other fields have received extensive attention. Compared with traditional point-to-point control, the main advantages of NCS are fewer connections, easy resource sharing and remote operation, low cost, and convenient expansion and maintenance. However, the transmission of information through the...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 卢雷
Owner NANJING UNIV OF POSTS & TELECOMM
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