An Application of Gain-Scheduling Control Law in Networked Control System

• Main Authors: Sheng-shin Lin, 林聖勳
• Other Authors: Shen-huang Yen
• Format: Others
• Language: zh-TW
• Published: 2008
• Online Access: http://ndltd.ncl.edu.tw/handle/57098760875785890099

碩士 === 義守大學 === 機械與自動化工程學系碩士班 === 96 === In recent years, the internet applications grow fast and the Ethernet technologies are well developed. There exist a lot of beneficial and cheap network devices in markets. They drive traditional industrial networks to cooperate with the Ethernet technology. In this research, we first investigate the Ethernet mechanisms and understand the roles that Ethernet can play in a control system. A further operation analysis of network mechanisms is also performed and the actual layout of distribution is done as well. To realize the actual time delay components, we design a Ping experiment to analyze the distribution and the characteristics of transmission time delays. Then we use these data in a DC motor control system to perform the simulation of a delayed system. We also show how the network transmission time delays affect a dynamic system. A PC installed a VB program is used to command a target with a Matlab/xpc framework. We use it to experiment the DC motor network control. In the end, we design an adaptive gain scheduling controller to adapt time-invariant transmission time delay in networked control systems. The controller possesses an estimator which estimates the network transmission time delay ranged from 0 to 1000ms and a set of optimal PID gains for a DC motor. We propose several network conditions to test if the controller could adapt these conditional changes and stabilize the system.