The invention provides a networked
servomotor control method based on a
disturbance observer. According to the method, a measuring element acquires the
angular displacement and
angular velocity of a
servomotor and sends the
angular displacement and the
angular velocity to the
disturbance observer and a sliding mode controller through a network, the
disturbance observer simultaneously reads
historical control quantity values, stored in a control quantity buffer, and estimates a disturbance size and sends the disturbance size to the sliding mode controller, and the sliding mode controller obtains a control
voltage signal through solving and sends the control
voltage signal to the
servomotor through the network so as to form closed-
loop network control on the servomotor. The method is applied to a servomotor
system with external disturbance, and the networked control is realized through
network connection, so that the
interoperability, flexibility and the like of the
system are improved; through selecting a sliding mode function with
historical control input, the network-induced time
delay is compensated, and the stability of the
system is improved; and through designing the disturbance observer, the disturbance suppression is realized, the buffeting of the system is reduced, and the dynamic performance of the system is improved.