Method of DC motor networked tracking controller

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...

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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 to system uncertainties, external disturbances, and network-induced delays, but the designed method is based on a continuous-time system, and in the modeling assumptions, the The time delay from the sensor to the controller is guaranteed, and it has a certain degree of conservatism

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