基于因特网的运动控制系统中变采样过程的研究

基于因特网的运动控制系统多采用时间驱动方式,由于采样周期与时延的不匹配,在报文接收端会出现空采样和多采样现象,这些采样现象使系统变得更难控制.提出事件-时间驱动方式,即采样周期要随着网络环境的变化而变化.不但对该驱动方式下的采样信息处理方法进行研究,而且提出了相应的网络时延补偿方案.理论分析和实验结果证明该方法可在任何因特网环境下实现运动控制的任务.

Variable-sampling Process in Internet-based Motion Control System

The time-driven is adopted in Internet-based motion control system. Because of matching problem of sampling period and Internet time delay, more-sampled case and empty-sampled case exist in the datagram sink. The system is very difficult to control at those sampled case. The event-time driven is proposed,in which the sampling period is variable with the change of Internet time delay. The sampled-information processor is researched, and a compensator for Internet time delay is presented. The theory analysis and experiment result show that motion control system is feasible in any Internet condition by those methods.