| 引用本文: | 尹 洋,夏 立,宋立忠.网络直流伺服电机滑模预测控制[J].电力自动化设备,2011,31(6): |
| YIN Yang,XIA Li,SONG Lizhong.Sliding-mode prediction control of networked DC servo motors[J].Electric Power Automation Equipment,2011,31(6): |
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| 摘要: |
| 利用滑模变结构控制方法对存在丢包情况下的网络直流伺服电机控制系统的鲁棒性问题进行了研究。对于控制器和执行器之间网络存在数据丢包的情况，设计了基于滑模预测控制律的网络丢包补偿模型，包括滑模预测控制产生器和丢包预测补偿器2个部分。研究了相应的动态补偿策略，使在每一时刻系统选取的实际控制量都是执行器端所提供的最新控制信号或最优滑模预测控制信号，使网络丢包对系统性能的影响降到最小。在一定丢包率的网络控制环境下，分别对标称及参数不确定的直流伺服电机进行了仿真分析，其结果表明了所提算法的合理性和有效性。 |
| 关键词: 网络控制系统 滑模变结构 预测控制 数据包补偿 直流电机 伺服电机 |
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| Sliding-mode prediction control of networked DC servo motors |
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YIN Yang, XIA Li, SONG Lizhong
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College of Electric and Information Engineering，Naval University of Engineering，Wuhan 430033，China
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| Abstract: |
| The packet loss of networked DC servo motor control system is studied by the sliding-mode control method to improve its robustness. A network packet-loss compensation model based on the sliding -mode predictive control is designed for the packet-loss between controller and actuator，including the sliding-mode predictive controller and the predictive packet-loss compensator. The corresponding compensation strategy is introduced，which selects the latest control signal supplied by the actuator or the optimal sliding-mode predictive control signal as the actual control signal to lower the influence of network packet-loss on system performance. Simulative analysis is carried out respectively for the nominal and parameter-uncertain DC servo motors in the networked control system with certain packet-loss rate，which shows the rationality and effectiveness of the proposed algorithm. |
| Key words: networked control system sliding-mode variable structure predictive control systems packet compensator DC motors servo motors |
