Research On Networked Control System For Fractional Sliding Mode Variable Structure

Along with rapid development of network and sensor technology, control technology also developed from traditional way to network control way. Because of the network control has some advantages such as few wiring, easy extension, low cost to be realize and remote control etc, it draws attention of the control field. It widely used in modern industry, aviation and remote operation and so many domains. However, new problems of modeling the network control system, network-induced time delay, and network packets loss have become the hotspot in control field research.The main research contents and innovation of the dissertation as follows:(1) On the basis of introduction background and advantages of the network control system, has made the detailed summary to the network control system’s research present situation of domestic and foreign, and has summarized this article main research direction.(2) The network-induced delay’s composition, timing sequence and the control system performance influences caused by different delays are studied. Discussed the principle of work which under the different node driven type and the system performance influenced by differences node drive type with emphasis. In production of three commons control net as examples, analyzed their characteristics and the effect on system performance. The network performance influence by simulation experiment’s way establishment differences data packet loss rate was studied.(3) In view of network control system modeling question, used method of state feedback to establish the model of the network control system and analyzed its stability. To simultaneously packet loss and indue-delay of the control network, analyzed the single package transmission and the multi-package transmission mode, after separately established the control model to it, then analyzed system’s stability.(4) A design method of sliding mode variable structure control was studied. The sliding mode control with time-delay compensation was designed with the theory of sliding mode variable structure, and the sliding mode controller of the first-level inverted pendulum model was designed. Through the simulation experiment, compared with LQR, this method is good to the network-induced delay’s control effect(5) For the problem of vibration and steady-state error with the sliding model variable structure control method of the inverted pendulum, this dissertation proposed that use fraction theory to redesign the sliding surface with the fraction time delay compensation and the sliding mode control. Simulations proved that this control system was feasible and satisfying.(6) Experimental platform that based on rotation experiment device and wireless network embedded control system is established. Through hardware linked and software installed and debugged, the network real-time control simulations proved that this method has been a satisfactory effect.