Research On Co-design Method For Networked Motion Control System

Networked motion control system(NMCS) is a closed-loop motion control system on the network platform composed of the motor and other objects, actuators, sensors and controllers. The system can realize real-time signal interaction, share resources, monitor the current scheduling information, and other functions through the network platform, which is widely used in industrial automation and other fields. Since the motion control system with high real-time performance and other requirements, and the network makes the motion control system is difficult to meet this requirement. Therefore, researching NMCS coordinated control method to improve the holistic performance has important theoretical and practical significance.This paper considered the quality of network service and control quality of NMCS, and the control of NMCS and scheduling cooperative design method was studied, and carried out simulation research.The main work done is as follows:The simulation modeling experiments of the double closed loop motion control system were completed in the no network and network environment, the control characteristics of which in full load starting, braking and reverse conditions are studied; the effects of network uncertainties such as packet loss rate, network interference, time delay and transmission rate on the performance of motion control system were studied and simulation experiments related were completed.Comparative study of adaptive fuzzy PID control algorithm was carried out for the control strategies of the controller in NMCS, and the simulation modeling experiments related were completed. Then, comparative study of dynamic and static sequential scheduling method was carried out for scheduling strategy of NMCS scheduler, and the simulation modeling experiments related were completed.This paper discussed the relationship between the control and scheduling, and discussed several kinds of collaborative design method of control and scheduling researched at present, such as robust control and scheduling of collaborative design method, the integrated control and scheduling based on the mixed logic dynamic model of collaborative design method, based on state feedback control and scheduling of collaborative design method and based on the error threshold collaborative design method of control and scheduling, etc. And their design processes were summarized.Simulation models of several kinds of collaborative design method of control and scheduling were completed, and comparative studies of them were carried out, including collaborative design simulations of the permissible error threshold scheduling and PID control, adaptive fuzzy control and allowed error threshold network scheduling, fuzzy scheduling and PID control.Proposed NMCS collaborative design method of adaptive fuzzy control and permissible error threshold fuzzy network scheduling. The synergetic control theory of the method was analyzed. That is, on the one hand, the influence of uncertain factors on the system was improved by adopting fuzzy control for a single motor loop. On the other hand, according to the response output of the control system, allowing the error threshold fuzzy scheduler was adopted to adjust the execution order of each circuit of the motor, so as to ensure the performance of the control system. The adaptive fuzzy controller design and the network scheduler design based on fuzzy error threshold were given; the simulation studies of starting, braking and reversing of NMCS were carried out. The simulation results showed that the method proposed in the thesis had a good anti-jamming performance and dynamic performance.