Application System Development Of The Network Control Systems Based On The Robust Control

With the continuous development of social economy,our country has strongly implemented the policy of "Made in China 2025" and "Internet+",which will greatly promote the progress of social science and technology,and boosted the rapid development of computer technology,control network and the modern communication technology.At the same time,the high-speed development of the High-speed EtherNet and the EtherCAT bus technology also provides reliable guarantee for the innovation of Network Control System(NCS),which is beneficial to the application and promotion of the system.The NCS has the structure characteristics with networking,integration,distribution and control of intelligent nodes,however a series of problems are inevitably introduced to the system as the system has been added to the network,which including time delay,packet loss,temporal confusion and so on.The above problems can not only reduce the system control performance,but also cause the instability of the system.Therefore,this paper aims at network delay and so on,to achieve the design of network controller based on the robust control algorithm and build a network experiment platform of control system,based on the QoS of the computer control network and take the control performance index of network control systems as the goal.Specific work is as follows:1)A networked control system with time delay is discussed.A robust control method is used to design the system controller with time delay.The uncertain induction time delay of the system control loop is transformed into the mathematical model coefficient of the controlled object discrete system,through the continuous system mathematical model of network control system,and transformed into the discrete system model,and then build the dynamic closed-loop control system modeling.The global asymptotic stability of the system is proved by using Lyapunov theory,which is transformed into the existence of linear matrix inequality(LMI)equation and the system control law is solved.2)The simulation control system is designed by the True Time toolbox combined with Matlab.In order to verify the control performance of the system control algorithm designed under different loads,the simulation of control algorithm is carried out for two cases of time delay and no delay.3)Using the Double Track Parallel Test Platform based on OMRON and EtherCAT bus,completed the trajectory tracking test under different network load conditions,in order to further verify the effectiveness of the NCS robust control algorithm to solve the problem of network delay,and uncertain interference.The experimental results show that the influence of load in large networks,robust control algorithm can achieve effective tracking of the desired trajectory,consistent with the simulation results indicated that the reliability of the algorithm.