基于网络的电机远程控制系统内模控制器设计

针对基于网络的远程控制系统中存在的信号传输时间延迟问题，设计了基于内模原理的控制器，对因网络时延导致的系统性能下降进行补偿。并且，对加入内模控制器后的闭环系统性能进行了分析。内模控制器克服了其它控制器必须依赖电机精确模型的缺点，保证了系统具有良好的稳定性和鲁棒性。仿真示例验证了内模控制方法的有效性。

Design of Internal Model Controller for Electric Machine Remote Control System Based on Network

The controller based on internal model principle is designed in view of the signal transport time delay existing in the electromotor remote control system based on network, which compensates for the drop of system performance resulting from network-induced delay. Furthermore, the performance of system is analyzed after the internal model controller involved in close-loop. Internal model controller overcomes the shortcomings that other controller must depend on eleetromotor accurate model, and guarantees the system performances of stability and robust were very good. The simulation results verify the effectiveness of internal model control method.