网络化运动控制系统的调度与控制协同设计

Co-design of scheduling and control in networked motion control systems

为兼顾系统控制质量和网络服务质量,针对网络化运动控制系统(networked motion control system,NMCS),提出一种基于最大误差优先级(maximum error first,MEF)网络调度与自适应模糊控制的协同设计方法,给出MEF调度器和自适应模糊控制器的设计方案;对NMCS进行仿真建模,从稳定性和动态性能方面与无调度器固定PID控制方法进行仿真对比。结果表明,所提出的设计方法可以使NMCS具有更好的动态跟随性能和抗扰性能。

In order to improve the quality of system control and the quality of network service, for networked motion control systems, a method of collaborative design based on the network scheduling of maximum error priority and the adaptive fuzzy control was put forward. The scheduler of maximum error priority and the adaptive fuzzy controller were designed. Simulation modeling of networked motion control systems was set up. From the aspects of indicators of stable and dynamic performance, by comparing the proposed design method with the fixed control method without the scheduler. The result show that the proposed design method can effectively make networked motion control systems have a better dynamic performance of following and disturbance rejection.