基于时钟同步的网络化运动控制策略研究

网络化运动控制系统(Networked Motion Control Systems，NMCS)是运动控制器与数字智能驱动器通过串行通信网络相连的控制系统。NMCS需要通过控制网络在控制器和各个运动部件之间高频率、低延迟和实时地交换控制和传感数据，以保证控制的高速度和高精度。串行控制网络本质上是有限带宽和异步的，这是网络化控制应用所面临的主要障碍。在中国国家自然科学基金重点项目《网络环境下的数字制造理论与关键技术》资助下，提出基于预测控制和网络时钟同步解决方案。 讨论网络同步在多轴协调运动控制中的作用，提出一种基于网络时钟同步的分布式插补方法。通过分析网络延迟对单轴跟踪控制性能的影响，提出基于时间戳和预测控制的补偿方法。对固定网络延迟，采用Smith预估器加以补偿，并应用零相位误差跟踪控制和Youla参数化改善其动态特性和鲁棒性。对随机时变网络延迟，采用广义预测控制算法和报文缓冲机制加以补偿。仿真和实验结果证明算法的有效性。

Networked Motion Control Strategies Based on Clock Synchronization

Networked motion control systems (NMCSs) are control systems in which the motion controller and digital intelligent servo driver are connected via a serial communication network. In order to achieve high speed and accuracy of motion, NMCSs require a control network that supports high speed synchronous transmission of the control command and feedback information with low delay and low jitter. However, the serial control network is essentially of limited bandwidth and asynchronous, which is the major obstacle to the networked control application. Funded by the NSFC《Digital manufacturing theory and key techniques in network environment》(No.50335020, a solution based on predictive control and clock synchronization of network is proposed.