To handle input and output time delays that commonly exist in many networked control systems(NCSs), a new robust continuous sliding mode control(CSMC) scheme is proposed for the output tracking in uncertain single inp...To handle input and output time delays that commonly exist in many networked control systems(NCSs), a new robust continuous sliding mode control(CSMC) scheme is proposed for the output tracking in uncertain single input-single-output(SISO) networked control systems. This scheme consists of three consecutive steps. First, although the network-induced delay in those systems can be effectively handled by using Pade approximation(PA), the unmatched disturbance cames out as another difficulty in the control design. Second, to actively estimate this unmatched disturbance, a generalized proportional integral observer(GPIO) technique is utilized based on only one measured state. Third, by constructing a new sliding manifold with the aid of the estimated unmatched disturbance and states, a GPIO-based CSMC is synthesized, which is employed to cope with not only matched and unmatched disturbances, but also networkinduced delays. The stability of the entire closed-loop system under the proposed GPIO-based CSMC is detailedly analyzed.The promising tracking efficiency and feasibility of the proposed control methodology are verified through simulations and experiments on Quanser's servo module for motion control under various test conditions.展开更多
由于Python语言自身的执行效率问题,对高精度编码器电机的解读难以满足需求。经过多方比较,最终采用pigpiod C Interface作为开发基础,实现对电机测速和转向判断的面向对象的封装,并利用swig工具将C++类转换成Python调用,结合了C++的高...由于Python语言自身的执行效率问题,对高精度编码器电机的解读难以满足需求。经过多方比较,最终采用pigpiod C Interface作为开发基础,实现对电机测速和转向判断的面向对象的封装,并利用swig工具将C++类转换成Python调用,结合了C++的高效与Python的便捷。测试结果表明,在树莓派设备上,对于分辨率为11线的霍尔传感器、分辨率为500线的光电传感器,本方案都能够满足精度需求。展开更多
基金supported in part by the Australian Research Council Discovery Project(DP190101557)
文摘To handle input and output time delays that commonly exist in many networked control systems(NCSs), a new robust continuous sliding mode control(CSMC) scheme is proposed for the output tracking in uncertain single input-single-output(SISO) networked control systems. This scheme consists of three consecutive steps. First, although the network-induced delay in those systems can be effectively handled by using Pade approximation(PA), the unmatched disturbance cames out as another difficulty in the control design. Second, to actively estimate this unmatched disturbance, a generalized proportional integral observer(GPIO) technique is utilized based on only one measured state. Third, by constructing a new sliding manifold with the aid of the estimated unmatched disturbance and states, a GPIO-based CSMC is synthesized, which is employed to cope with not only matched and unmatched disturbances, but also networkinduced delays. The stability of the entire closed-loop system under the proposed GPIO-based CSMC is detailedly analyzed.The promising tracking efficiency and feasibility of the proposed control methodology are verified through simulations and experiments on Quanser's servo module for motion control under various test conditions.
文摘由于Python语言自身的执行效率问题,对高精度编码器电机的解读难以满足需求。经过多方比较,最终采用pigpiod C Interface作为开发基础,实现对电机测速和转向判断的面向对象的封装,并利用swig工具将C++类转换成Python调用,结合了C++的高效与Python的便捷。测试结果表明,在树莓派设备上,对于分辨率为11线的霍尔传感器、分辨率为500线的光电传感器,本方案都能够满足精度需求。
