Original scientific paper
Robust Network Motion Control System Based on Disturbance Observer
Atsushi Kato
Abdul Muis
Kouhei Ohnishi
Abstract
The aim of this paper is to realize robust network motion control system. One of the most significant issues for network motion control realization is time delay during transmission. Obviously, most time delay systems are unstable. Additionally, time delay may cause control performance degradation in motion control system. In this paper, a modified disturbance observer with Smith predictor is proposed to compensate time delay. This modification realizes a robust two-degree-of-freedom control system ower network. The serial compensation of Smith predictor is utilized to compensate time delay. The validity of the proposed method is confirmed by the position control of linear motor over network experimentally. Experimental results show that the proposed control system has robustness against transmission delay fluctuation over network and external force.
Keywords
motion control; network control systems; observers; linear motors
Hrčak ID:
4405
URI
Publication date:
3.5.2006.
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