摘要
为满足网络化制造企业对远程设备进行远程控制和管理的需求,提出了一种远程控制系统模型和结构,并详细地论述了其工作原理。比较了传输控制协议和用户数据报协议的特点,选择传输控制协议作为远程控制系统控制/反馈信息的网络传输协议。针对网络信息传输的不确定时变延时,采用现代鲁棒控制理论设计了H∞控制器来改善电液位置伺服远程控制系统的鲁棒跟踪性能。通过仿真表明,设计的H∞控制器不仅可以得到期望的稳定控制,还能降低时延对系统的影响。
To meet the needs of teleoperation and management of automation industry equipments based on Internet for networked manufacturing enterprises, a teleoperation system model and its architecture were put forward, and operation principles of the system were discussed in detail. Transfer Control Protoeol（TCP） was adopted to transmit the control/feedback information of system after characteristics comparison between TCP and User Datagram Protocol（UDP）. In view of uncertain timer-varying transmission time delay, the H∞ controller was designed by using modern robust control theory to enhance robustness of tracking performance of given electro-hydraulic position servo teleoperation system. Simulation showed that the H∞ controller was effective both in keeping the system stable as expected and reducing the impact of time delay in the system.
出处
《计算机集成制造系统》
EI
CSCD
北大核心
2006年第11期1848-1852,共5页
Computer Integrated Manufacturing Systems
基金
国家自然科学基金资助项目(50275100)
四川大学青年基金资助项目(200577)。~~
关键词
远程控制
鲁棒控制
时延
传输控制协议
网络化制造
电液位置伺服控制
teleoperation, robust control
delay
transfer control protocol
networked manufacturing
electrohy- draulic position servo control
