Research On Behavioral Characteristics Of The Networked Motion Control Systems

In the networked motion control systems (NMCSs), the importing of network provides NMCSs some merits and also challenges the traditional control theory and methodologies. For the large scale distributed motion control systems, there are a lot of problems to be dealt with which not only exists in them but also caused by the stability, real-time ability and security control issues that led by stochastic delays, data packet dropout and wrong order of data packet in the networks. Motion control systems (MCSs) are the typical control systems with short control cycle, high precision and fast dynamic response requirements, so these systems are required to make response in a very short time period besides the transmission with high performance. Therefore, to study NMCSs requires applying the network technology to MCSs on the one hand and using the control theory to resolve the control issues in the networks on the other.In view of considering the entity behaviors of MCSs in the networks environment, the architecture, system modeling, behavioral characteristics and the control policy for compensating the network-induced delays are studied respectively. After analyzing the industrial control networks and the architectures of the traditional MCSs, then according with some issues existing in the traditional MCSs, the new architecture of NMCS based on the embedded Internet and SOPC is presented and the realization method of designing the motion controller by using FPGA based on MicoBlaze soft processor is further studied, on the basis of deeply studying the related technologies, such as SOPC, IP resource reuse, embedded Internet and so on.The relations among the intelligent nodes in the NMCS are analyzed, on the basis of studying the NMCS architecture. According with the discrete system theory, the derivations of the discrete state equations of MIMO NMCS based on augmented states in four driven modes are given respectively. Then, the influences on the system performance in four driven modes of the nodes are further analyzed and the advantages and disadvantages of the modes are pointed out.Real-time ability, security and stability, three main behavioral modes and characteristics, of the industrial control networks are analyzed, and their influences on the whole performances of the MCS are studied. Firstly, the working mechanism of Ethernet, real-time ability improving methods for the industrial network and control policies are analyzed in details. Then, in view of the system and cybernetics, the control principles, control policies and control mechanism of the industrial Ethernet's security are studied and so do the key techniques and means of resolving network security control. Finally, considering the control network, affections on the system stability of network transmission delay, system's sampling rate, data packet dropout rate and maximum allowable transmission interval of information are studied.