CN110488704A - A kind of the network stabilization control method and system of multistation cooperative motion - Google Patents
A kind of the network stabilization control method and system of multistation cooperative motion Download PDFInfo
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- CN110488704A CN110488704A CN201910776694.0A CN201910776694A CN110488704A CN 110488704 A CN110488704 A CN 110488704A CN 201910776694 A CN201910776694 A CN 201910776694A CN 110488704 A CN110488704 A CN 110488704A
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The present invention provides a kind of network stabilization control method and system based on multistation cooperative motion, this method comprises: generating control signal and sending control signals to current driver by communication network, so that current driver generates driving signal according to control signal, and driving signal is sent to multistation cooperative motion system, so that the target motor in multistation cooperative motion system is moved according to driving signal, wherein, communication network has the first transmission delay in transmission of control signals；The detection signal sent by communication network receiving sensor, sensor are used to acquire the Position And Velocity information of target motor and generate detection signal, wherein communication network has the second transmission delay when transmitting detection signal；Control signal is adjusted according to the kinetics equation of detection signal, the first transmission delay, the second transmission delay and the multistation cooperative motion system pre-established, so that current driver adjusts the driving signal of its sending according to control signal adjusted.
Description
Technical field
The present invention relates to motor control technology field, the network stabilization of specifically a kind of multistation cooperative motion is controlled
Method and system.
Background technique
There are many research currently for linear motor common in kinematic system expansion, relate to structural analysis, excitation
Analysis, radial vibration analysis, calculation of magnetic force, position control, speed control and Collaborative Control etc..And at present by control based on network system
System with line motion control system now in conjunction with, especially the binding with more motor cooperative motion control systems rarely has hearsay,
And that network control system has information sharing, long-range control, light-weight, installation is simple, at low cost, maintenance is small etc. is a variety of excellent
Point, therefore network control system and actual more motor cooperative motion control systems are combined seem significant, network
Though networked control systems possess many advantages, due to there is the intervention of network in system, effective control to system is being realized
When also bring along new problem and challenge, for example, interference and network due to multistation cooperative motion system by external environment
The communication constraint factor of itself influences, and it is even unstable to inevitably result in system performance decline, and then influences multistation collaboration fortune
The control precision and stability energy of dynamic system.
Summary of the invention
The embodiment of the invention provides a kind of network stabilization control method of multistation cooperative motion, system, computers to set
Standby and computer readable storage medium, the communication constraint factor of the interference and network itself that can effectively inhibit external environment is to being
The influence of the control precision and stability energy of system.
In a first aspect, the embodiment of the invention provides a kind of network stabilization control method of multistation cooperative motion, it is described
Method includes:
It generates control signal and the control signal is sent to by current driver by communication network, so that the electricity
It flows driver and driving signal is generated according to the control signal, and send the driving signal to multistation cooperative motion system
System, so that at least three target motors in multistation cooperative motion system are moved according to the driving signal, wherein institute
Stating communication network has the first transmission delay when transmitting the control signal；
The detection signal that the sensor is sent is received by communication network, the sensor is for acquiring described at least three
The Position And Velocity information of a target motor simultaneously generates the detection signal, wherein the communication network is transmitting the detecting
There is the second transmission delay when signal；
According to the detection signal, first transmission delay, second transmission delay and the multistation pre-established
The kinetics equation of cooperative motion system adjusts the control signal, so that current driver is according to the control adjusted
Signal processed adjusts the driving signal of its sending；
Wherein, the kinetics equation of the multistation cooperative motion system are as follows:
X (k+1)=Ax (k)+BKx (k-d (k))+BwW (k),
Z (k)=Cx (k)+DKx (k-d (k))+DwW (k),
k0=-d2,-d2+ 1, L, 0
Wherein, x (k) indicates that the system state vector at current time, x (k+1) indicate the system state vector of subsequent time,
x(k0) indicate system initial state vector, k0Indicate that initial time, A, B, C, D indicate system status parameters matrix, Bw, DwIt is outer
Portion disturbs the real matrix of appropriate dimension, K H∞STATE FEEDBACK CONTROL gain；D (k)=dsc(k)+dca(k), wherein dsc(k) table
Show the first transmission delay, dca(k) the second transmission delay is indicated, w (k) is expressed as external disturbance signal.
Second aspect, the embodiment of the present invention provide a kind of network stabilization control system based on multistation cooperative motion, packet
It includes:
Including positioner, communication network, current driver, at least three target motors and sensor；
The positioner generates control signal and the control signal is sent to electric current by the communication network
Driver；
The current driver is used to generate driving signal according to the control signal, and sends the driving signal to institute
Multistation cooperative motion system is stated, so that at least three target motors in the multistation cooperative motion system are according to institute
State driving signal movement, wherein the communication network has the first transmission delay when transmitting the control signal；
The sensor is used for the Position And Velocity information of at least three target motor and generates the detection signal,
Wherein, the communication network has the second transmission delay when transmitting the detection signal；
The positioner is according to the detection signal, first transmission delay, second transmission delay and pre-
The kinetics equation for the multistation cooperative motion system first established adjusts the control signal, so that the current driver
The driving signal of its sending is adjusted according to the control signal adjusted；
Wherein, the kinetics equation of the multistation cooperative motion system are as follows:
X (k+1)=Ax (k)+BKx (k-d (k))+BwW (k),
Z (k)=Cx (k)+DKx (k-d (k))+DwW (k),
k0=-d2,-d2+ 1, L, 0
Wherein, x (k) indicates that the system state vector at current time, x (k+1) indicate the system state vector of subsequent time,
x(k0) indicate system initial state vector, k0Indicate that initial time, A, B, C, D indicate system status parameters matrix, Bw, DwIt is outer
Portion disturbs the real matrix of appropriate dimension, K H∞STATE FEEDBACK CONTROL gain；D (k)=dsc(k)+dca(k), wherein dsc(k) table
Show the first transmission delay, dca(k) the second transmission delay is indicated, w (k) is expressed as external disturbance signal.
The third aspect, the embodiment of the invention provides a kind of positioner, including processor, input equipment, output are set
Standby and memory, the processor, input equipment, output equipment and memory are connected with each other, wherein the memory is for depositing
Program is stored up, described program includes program instruction, and the processor is configured for calling described program instruction, executes above-mentioned side
Method.
Fourth aspect, the embodiment of the invention provides a kind of computer readable storage medium, the computer storage medium
It is stored with program, described program includes program instruction, and described program instruction when being executed by a processor executes the processor
Above-mentioned method.
The present invention is believed by establishing the network stabilization control method and system of multistation cooperative motion with external disturbance
Number, the first propagation delay time and the second propagation delay time the control signal of the positioner output is determined as affecting parameters, fill
Divide the influence considered external disturbance and communication network to system stability and control the influence of precision, high-precision can realize
The co-location tracing control of multiple motors.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below to needed in embodiment description
Attached drawing is briefly described, it should be apparent that, drawings in the following description are some embodiments of the invention, general for this field
For logical technical staff, without creative efforts, it is also possible to obtain other drawings based on these drawings.
It constitutes a part of attached drawing of the invention to be used to provide further understanding of the present invention, schematic implementation of the invention
Example and its specification are used to explain the present invention, and do not constitute the improper restriction to not allowing you to invent.
Fig. 1 is the flow diagram of the network stabilization control method of multistation cooperative motion provided in an embodiment of the present invention；
Fig. 2 is the schematic block diagram of the network stabilization control system of multistation cooperative motion provided in an embodiment of the present invention；
Fig. 3 is the external structure schematic diagram of multistation cooperative motion system shown in Fig. 2；
Fig. 4 is the network topology structure figure of multistation cooperative motion system shown in Fig. 2；
Fig. 5 to Figure 10 is that the experiment of the network stabilization control system of multistation cooperative motion shown in the embodiment of the present invention is surveyed
Test result schematic diagram；
Figure 11 is a kind of schematic block diagram of positioner provided in an embodiment of the present invention.
Specific embodiment
For a better understanding of the technical solution of the present invention, being retouched in detail to the embodiment of the present invention with reference to the accompanying drawing
It states.
It will be appreciated that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
Its embodiment, shall fall within the protection scope of the present invention.
The term used in embodiments of the present invention is only to be not intended to be limiting merely for for the purpose of describing particular embodiments
The present invention.In the embodiment of the present invention and the "an" of singular used in the attached claims, " described " and "the"
It is also intended to including most forms, unless context clearly shows that other meanings.
It should be appreciated that term "and/or" used herein is only a kind of incidence relation for describing affiliated partner, indicate
There may be three kinds of relationships, for example, A and/or B, can indicate: individualism A, exist simultaneously A and B, individualism B these three
Situation.In addition, character "/" herein, typicallys represent the relationship that forward-backward correlation object is a kind of "or".
Attached drawing 1 is please referred to, the embodiment of the present invention provides a kind of network stabilization control method based on multistation cooperative motion,
In the present embodiment, the executing subject of this method is positioner, provided in an embodiment of the present invention to be cooperateed with based on multistation
The network stabilization control method of movement includes:
Step S01: generating control signal and the control signal be sent to current driver by communication network, so that
It obtains the current driver and driving signal is generated according to the control signal, and send the driving signal to the multistation and assist
Same kinematic system, so that at least three target motors in multistation cooperative motion system are transported according to the driving signal
It is dynamic, wherein the communication network has the first transmission delay when transmitting the control signal；
Step S02: it according to the detection signal, first transmission delay, second transmission delay and pre-establishes
The kinetics equation of multistation cooperative motion system adjust the control signal so that after current driver is according to adjustment
The control signal adjust its sending driving signal；
Wherein, the kinetics equation of the multistation cooperative motion system are as follows:
X (k+1)=Ax (k)+BKx (k-d (k))+BwW (k),
Z (k)=Cx (k)+DKx(k-d(k))+DwW (k),
k0=-d2,-d2+ 1, L, 0
Wherein, x (k) indicates that the system state vector at current time, x (k+1) indicate the system state vector of subsequent time,
x(k0) indicate system initial state vector, k0Indicate that initial time, A, B, C, D indicate system status parameters matrix, Bw, DwIt is outer
Portion disturbs the real matrix of appropriate dimension, K H∞STATE FEEDBACK CONTROL gain；D (k)=dsc(k)+dca(k), wherein dsc(k) table
Show the first transmission delay, dca(k) the second transmission delay is indicated, w (k) is expressed as external disturbance signal.
The present invention is believed by establishing the network stabilization control method and system of multistation cooperative motion with external disturbance
Number, the first propagation delay time and the second propagation delay time the control signal of the positioner output is determined as affecting parameters, fill
Divide the influence considered external disturbance and communication network to system stability and control the influence of precision, high-precision can realize
The co-location tracing control of multiple motors.
Attached drawing 1 and attached drawing 2 are recombined below, and the network stabilization of multistation cooperative motion provided in this embodiment is controlled
The specific technical solution of method is described in detail.
Firstly, executing step S01: generating control signal and the control signal is sent to electric current by communication network and drive
Dynamic device, so that the current driver generates driving signal according to the control signal, and sends the driving signal to institute
Multistation cooperative motion system is stated, so that at least three target motors in multistation cooperative motion system are according to the drive
Dynamic signal movement, wherein the communication network has the first transmission delay when transmitting the control signal；
Specifically, first propagation delay time is by the communication network in the positioner to the current driver
Between generate, first transmission delay is chance event delay, wherein first transmission delay is present in position control
Device processed is into the communication link of the current driver.
In the present embodiment, the target motor is linear switched reluctance motor, and the quantity of the motor is 3, packet
A main motor and two are included from motor, main motor drives for receiving control signal, and by topological network from motor fortune
Dynamic, in other embodiments, the quantity of the target motor can also be two, four, even more, need to illustrate
It is that node 1, node 2, node 3, node 4.... node t in attached drawing 2 etc., each node is multiple as a target motor
It is communicated between target motor by contract network.
Next, execute step S02: by communication network receive the sensor (sensor can there are many, this
Sensor described in embodiment is specially attached linear encoder shown in Fig. 2) detection signal that sends, the sensor uses
In the Position And Velocity information for acquiring at least three target motor and generate the detection signal, wherein the communication network
Network has the second transmission delay when transmitting the detection signal.
Specifically, the sensor is used to acquire the Position And Velocity information of described at least three target motor, and base
Detection signal is generated in the Position And Velocity information of at least three target motor, then passes through communication network for detection signal
Feed back to positioner, wherein the communication network has the second transmission delay when transmitting the detection signal；
Specifically, second propagation delay time by the communication network in the sensor to the positioner
It generates, second transmission delay is chance event delay, wherein second transmission delay is present in the sensor to institute
It states in the communication link of positioner.
In the present embodiment, it is first sensor, the second sensing respectively that the quantity of the sensor, which is 3,3 sensors,
Device and 3rd sensor, 3 sensors acquire the position and velocity information of three target motors respectively.
Next, executing step S03: according to the detection signal, first transmission delay, second transmission delay
And the kinetics equation of the multistation cooperative motion system pre-established adjusts the control signal, so that current driver
The driving signal of its sending is adjusted according to the control signal adjusted；
Wherein, the kinetics equation of the multistation cooperative motion system are as follows:
X (k+1)=Ax (k)+BKx (k-d (k))+BwW (k),
Z (k)=Cx (k)+DKx (k-d (k))+DwW (k),
k0=-d2,-d2+ 1, L, 0
Wherein, x (k) indicates that the system state vector at current time, x (k+1) indicate the system state vector of subsequent time,
x(k0) indicate system initial state vector, k0Indicate that initial time, A, B, C, D indicate system status parameters matrix, Bw, DwIt is outer
Portion disturbs the real matrix of appropriate dimension, K H∞STATE FEEDBACK CONTROL gain；D (k)=dsc(k)+dca(k), wherein dsc(k) table
Show the first transmission delay, dca(k) the second transmission delay is indicated, w (k) is expressed as external disturbance signal.
More specifically, as shown in Fig. 2,It is expressed as in the second transmission delay dca(k) pass through communication network under the influence of
It is sent to the detection signal of the positioner,It is expressed as the output signal of positioner, u (k) is expressed asBy the first transmission delay dsc(k) the control signal for being input to current driver under the influence of, communication network makes more
Station cooperative motion system and external position controller constitute a closed feedback loop, system mode and control signal modeling point
It Wei following equation:
Have for the co-location controller (i.e. external position controller) of networking multistation cooperative motion system as follows
Form:
It is appreciated that the present invention is by establishing model above, positioner is by introducing external disturbance and communication network
The influence of influence and control precision to system stability, is calculated its output signal, high-precision can realize multiple electricity
The co-location tracing control of machine.
It should also be noted that, z (k) is system output vector, corresponding expression formula is output equation, is interfered when existing
In the case of when, which is used to verify the stability of the system under interference effect.
Further, the H∞The calculating process of STATE FEEDBACK CONTROL gain K includes:
Construct liapunov function, the liapunov function are as follows:
V (k)=v1(k)+v2(k)+v3(k)+v4(k)
v1(k)=x (k)TP(d(k))x(k)
Stability analysis is carried out according to the liapunov function, solves the H∞STATE FEEDBACK CONTROL gain K's
Value.
It is appreciated that the present invention has by the liapunov function of the Secondary movement system of this more motors of construction
Good anti-interference, the control signal of the positionerIt is the linear moment obtained based on liapunov function
Battle array inequality solves, therefore improves the collaboration tracking accuracy between the system more motors of raising.
Also referring to attached drawing 2 and attached drawing 3, further embodiment of this invention provides a kind of based on multistation cooperative motion
Network stabilization control system, including positioner, communication network, current driver, multistation cooperative motion system and sensing
Device, wherein the multistation cooperative motion system includes at least three target motors connected by contract network；
The positioner generates control signal and the control signal is sent to electric current by the communication network
Driver；
The current driver is used to generate driving signal according to the control signal, and sends the driving signal to institute
Multistation cooperative motion system is stated, so that at least three target motors in the multistation cooperative motion system are according to institute
State driving signal movement, wherein the communication network has the first transmission delay when transmitting the control signal；
The sensor is used for the Position And Velocity information of at least three target motor and generates the detection signal,
Wherein, the communication network has the second transmission delay when transmitting the detection signal；
The positioner is according to the detection signal, first transmission delay, second transmission delay and pre-
The kinetics equation for the multistation cooperative motion system first established adjusts the control signal, so that the current driver
The driving signal of its sending is adjusted according to the control signal adjusted；
Wherein, the kinetics equation of the multistation cooperative motion system are as follows:
X (k+1)=Ax (k)+BKx (k-d (k))+BwW (k),
Z (k)=Cx (k)+DKx (k-d (k))+D)wW (k),
k0=-d2,-d2+ 1, L, 0
Wherein, x (k) indicates that the system state vector at current time, x (k+1) indicate the system state vector of subsequent time,
x(k0) indicate system initial state vector, k0Indicate that initial time, A, B, C, D indicate system status parameters matrix, Bw, DwIt is outer
Portion disturbs the real matrix of appropriate dimension, K H∞STATE FEEDBACK CONTROL gain；D (k)=dsc(k)+dca(k), wherein dsc(k) table
Show the first transmission delay, dca(k) the second transmission delay is indicated, w (k) is expressed as external disturbance signal.
The present invention is believed by establishing the network stabilization control method and system of multistation cooperative motion with external disturbance
Number, the first propagation delay time and the second propagation delay time the control signal of the positioner output is determined as affecting parameters, fill
Divide the influence considered external disturbance and communication network to system stability and control the influence of precision, high-precision can realize
The co-location tracing control of multiple motors.
Further, the H∞The calculating process of STATE FEEDBACK CONTROL gain K includes:
Construct liapunov function, the liapunov function are as follows:
V (k)=v1(k)+v2(k)+v3(k)+v4(k)
v1(k)=x (k)TP(d(k))x(k)
Stability analysis is carried out according to the liapunov function, solves the H∞STATE FEEDBACK CONTROL gain K's
Value.
It is appreciated that the present invention has by the liapunov function of the Secondary movement system of this more motors of construction
Good anti-interference, the control signal of the positionerIt is the linear moment obtained based on liapunov function
Battle array inequality solves, therefore improves the collaboration tracking accuracy between the system more motors of raising.
Further, the network stabilization control system based on multistation cooperative motion further includes that the conversion of power Electricity Functional is single
Member and current control loop, the power Electricity Functional converting unit are instructed for receiving the driving signal and exporting current control,
The current control loop, which is used to instruct according to the current control, generates current signal at least three target motor
At least one target motor, to control the Position And Velocity of each target motor at least three target motor.
Further, the communication network includes the first Postponement module and the second Postponement module, first Postponement module
First transmission delay is generated between the signal transmission path of the positioner to current driver, described second prolongs
Slow module generates second transmission delay between the signal transmission path of the sensor to the positioner.
Further, the sensor is linear encoder.
Further, the quantity of the target motor is specially three, and three target motors include a main motor
And two from motor, and for convenience of distinguishing, respectively target motor 1, target motor 2 and target motor 3, wherein the main motor
For receiving the current signal.
Attached drawing 4 is please referred to, further, for the above-mentioned network stabilization control system based on multistation cooperative motion and control
Method processed builds experiment porch and carries out experiment test, and the networking multistation cooperative motion system experimental platform includes: first
Station (target motor 1), second station (target motor 2), 3rd station (target motor 3), sensor (linear encoder) 4,
Interface between current driver, power supply, RT-LAB (OP5600) (positioner), RT-LAB (positioner) and PC,
For the network stabilization control system of multistation cooperative motion, real-time RT-LAB (OP5600) controller is connected with PC.In
Under MATLAB/Simulink environment, linear encoder acquires the location information of multistation, and host computer carries out it long-range in real time
Monitoring.First station (target motor), second station (target motor 2), the external structure of 3rd station (target motor 3) and
Network topology structure is shown in attached drawing 3 and attached drawing 4 respectively, wherein the parameter declaration in attached drawing 3 is as follows: L1And L2Represent extremely wide, value
For 6mm, L3And L4Pole span is represented, value 12mm, winding is by 220 circle coil windings, air gap 0.3mm, main motor (target electricity
Machine 1) mover quality be 10.9kg, secondary motor (target motor 2 and target motor 3) mover quality is 3.8kg.Real-time RT-
LAB (OP5600) controller is connected with PC, can be with online modification random delay.The closed-loop system can be in MATLAB/
It is emulated and is configured under Simulink environment, the linear encoder of each node acquires corresponding position signal, by upper
Machine in real time remotely detects position signal, and the position control loop sample frequency inside each motor is set as
1kHz.RT-LAB control centre is connected by analog-digital converter with the current driver of multistation motor, and ratio-product is based on
Point-three current drive amplifiers of derivative controller are able to carry out the internal current of each motor node and adjust, sampling rate
For 20kHz.In RT-LAB control centre, propose that the multistation cooperative motion system algorithm of control based on network can download to number
In signal processor, and it can be programmed under MATLAB/Simulink environment.
Further, two kinds of topological structures of multistation cooperative motion system have been shown in particular in attached drawing 4, are tree-shaped open up respectively
Flutter with two kinds of structures of ring topology, and the experimental result of two kinds of network topology structures is analyzed, for convenience of stating,Indicate the maximum absolute position error between reference position and 1 position of main motor node.Indicate maximum absolutely co-location error (wherein, the p between motor node p and motor node q
It is { 1,2,3 } with q value).
Following explanation is done to realization result now in conjunction with attached drawing 5-10:
Attached drawing 5 is the dynamic response curve for not considering three stations of network delay compensation under tree topology, wherein 5
(a) real time position curve (the respectively S of three stations1、S2And S3), 5 (b) indicate the co-location error curve of three stations
Scheme (respectively Er1、Er2And Er3), wherein maximum collaboration tracking absolute error when network delay compensation is not considered in attached drawing 5 (b)
Respectively Er1=0.2152, E12=0.5022, E13=0.5362.
Attached drawing 6 is the dynamic response curve that three stations of network delay compensation are considered under tree topology, wherein 6 (a)
Real time position curve (the respectively S of three stations1、S2And S3), 6 (b) indicate the co-location error curve diagram of three stations
(respectively Er1、Er2And Er3), wherein maximum collaboration tracking absolute error difference when network delay compensation is considered in attached drawing 6 (b)
For Er1=0.2282, E12=0.4503, E13=0.4613.
Attached drawing 7 is the dynamic response curve for not considering three stations of network delay compensation under ring topology, wherein 7
(a) real time position curve (the respectively S of three stations1、S2And S3), 7 (b) indicate the co-location error curve of three stations
Scheme ((respectively Er1、Er2And Er3), wherein do not consider that maximum collaboration tracking is absolutely accidentally when network delay compensation in attached drawing 7 (b)
Difference is respectively Er1=0.2058, E12=0.4783, E13=0.4573.
Attached drawing 8 is the dynamic response curve that three stations of network delay compensation are considered under ring topology, wherein 8 (a)
Real time position curve (the respectively S of three stations1、S2And S3), 8 (b) indicate the co-location error curve diagram of three stations
(respectively Er1、Er2And Er3), wherein maximum collaboration tracking absolute error point when network delay compensation is not considered in attached drawing 8 (b)
It Wei not Er1=0.2354, E12=0.4303, E13=0.4243.
By comparing the maximum absolute position error and co-location error of attached drawing 5-8 (b), in tree topology and annular
In topology, the delay compensation method of proposition significantly improves the control precision of networking multistation cooperative motion system.Experiment knot
Fruit demonstrates proposed networking H∞Validity of the control method in multistation cooperative motion system.
In addition, in order to verify the interference free performance of the multistation cooperative motion system of control based on network, the system at 6 seconds extremely
It is randomly incorporated into a pulse signal in 8 seconds and is considered as external disturbance, experimental result is shown in attached drawing 9 and attached drawing 10, position and location error
Response curve shows that system can quickly restore balance under external disturbance, has immunity characteristic, therefore network control proposed by the present invention
Method processed has good interference free performance, and the system is made to have preferable robustness.
The embodiment of the invention also provides a kind of computer readable storage medium, the computer storage medium is stored with journey
Sequence, described program include program instruction, and described program instruction makes the processor execute the present invention times when being executed by a processor
A kind of network stabilization control method based on multistation cooperative motion that one embodiment provides.
Attached drawing 11 is please referred to, the embodiment of the invention also provides a kind of positioners, comprising: processor 51, memory
52 and it is stored in the program 53 that can be run in memory 52 and on processor 51, it is real when which is executed by processor 51
One of current embodiment is not gone to live in the household of one's in-laws on getting married based on the network stabilization control method of multistation cooperative motion to avoid repeating one by one herein
It states.Alternatively, the function of each model/unit in positioner 4 in embodiment is realized when the program is executed by processor 51, to keep away
Exempt to repeat, not repeat one by one herein.
Positioner may include, but are not limited to processor 51, memory 52.It will be understood by those skilled in the art that figure
11 be only the example of positioner, does not constitute the restriction to positioner, may include more more or less than illustrating
Component, perhaps combine certain components or different components, for example, positioner can also include input-output equipment,
Network access equipment, bus etc..
Alleged processor 51 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), field programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
Memory 52 can be the internal storage unit of computer equipment 50, such as the hard disk or interior of computer equipment 50
It deposits.Memory 52 is also possible to the plug-in type being equipped on the External memory equipment of computer equipment 50, such as computer equipment 50
Hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash card
(Flash Card) etc..Further, memory 52 can also both including computer equipment 50 internal storage unit and also including
External memory equipment.Memory 52 is for storing other programs and data needed for program and computer equipment.Memory 52
It can be also used for temporarily storing the data that has exported or will export.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided by the present invention, it should be understood that disclosed system, device and method can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the division of unit,
Only a kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can be with
In conjunction with or be desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or discussed
Mutual coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING of device or unit or
Communication connection can be electrical property, mechanical or other forms.
Unit may or may not be physically separated as illustrated by the separation member, shown as a unit
Component may or may not be physical unit, it can and it is in one place, or may be distributed over multiple networks
On unit.It can some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can store and computer-readable deposit at one
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer
It is each that device (can be personal computer, server or network equipment etc.) or processor (Processor) execute the present invention
The part steps of embodiment method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read-Only
Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. is various to deposit
Store up the medium of program code.
The above is merely preferred embodiments of the present invention, be not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent substitution, improvement and etc. done be should be included within the scope of the present invention.
Claims (10)
1. a kind of network stabilization control method based on multistation cooperative motion, the method is applied to positioner, special
Sign is, which comprises
It generates control signal and the control signal is sent to by current driver by communication network, so that the electric current drives
Dynamic device sends the driving signal to the multistation cooperative motion system according to control signal generation driving signal,
So that at least three target motors in multistation cooperative motion system are moved according to the driving signal, wherein described
Communication network has the first transmission delay when transmitting the control signal；
Receive the detection signal that the sensor is sent by communication network, wherein the sensor for acquire it is described at least
The Position And Velocity information of three target motors simultaneously generates the detection signal, wherein the communication network is detectd described in the transmission
There is the second transmission delay when surveying signal；
According to the detection signal, first transmission delay, second transmission delay and the multistation collaboration pre-established
The kinetics equation of kinematic system adjusts the control signal, so that current driver is according to control signal tune adjusted
The whole driving signal that it is issued；
Wherein, the kinetics equation of the multistation cooperative motion system are as follows:
X (k+1)=Ax (k)+BKx (k-d (k))+BwW (k),
Z (k)=Cx (k)+DKx (k-d (k))+DwW (k),
k0=-d2,-d2+ 1, L, 0
Wherein, x (k) indicates that the system state vector at current time, x (k+1) indicate the system state vector of subsequent time, x (k0)
Indicate system initial state vector, k0Indicate that initial time, A, B, C, D indicate system status parameters matrix, Bw, DwIt is disturbed for outside
Move the real matrix of appropriate dimension, K H∞STATE FEEDBACK CONTROL gain；D (k)=dsc(k)+dca(k), wherein dsc(k) the is indicated
One transmission delay, dca(k) the second transmission delay is indicated, w (k) is expressed as external disturbance signal.
2. the network stabilization control method of multistation cooperative motion as described in claim 1, which is characterized in that the H∞State
The calculating process of feedback control gain K includes:
Construct liapunov function, the liapunov function are as follows:
V (k)=v1(k)+v2(k)+v3(k)+v4(k)
v1(k)=x (k)TP(d(k))x(k)
Stability analysis is carried out according to the liapunov function, solves the H∞The value of STATE FEEDBACK CONTROL gain K.
3. a kind of network stabilization control system based on multistation cooperative motion, which is characterized in that including positioner, communication
Network, current driver, multistation cooperative motion system and sensor, wherein the multistation cooperative motion system includes logical
Cross at least three target motors of contract network connection；
The positioner is for generating control signal and the control signal being sent to electric current by the communication network
Driver；
The current driver is used for according to control signal generation driving signal, and sends the driving signal to described more
Station cooperative motion system, so that at least three target motors in the multistation cooperative motion system are according to the drive
Dynamic signal movement, wherein the communication network has the first transmission delay when transmitting the control signal；
The sensor is used for the Position And Velocity information of at least three target motor and generates the detection signal,
In, the communication network has the second transmission delay when transmitting the detection signal；
The positioner is according to the detection signal, first transmission delay, second transmission delay and in advance builds
The kinetics equation of vertical multistation cooperative motion system adjusts the control signal, so that the current driver foundation
The control signal adjusted adjusts the driving signal of its sending；
Wherein, the kinetics equation of the multistation cooperative motion system are as follows:
X (k+1)=Ax (k)+BKx (k-d (k))+BwW (k),
Z (k)=Cx (k)+DKx (k-d (k))+DwW (k),
k0=-d2,-d2+ 1, L, 0
Wherein, x (k) indicates that the system state vector at current time, x (k+1) indicate the system state vector of subsequent time, x (k0)
Indicate system initial state vector, k0Indicate that initial time, A, B, C, D indicate system status parameters matrix, Bw, DwIt is disturbed for outside
Move the real matrix of appropriate dimension, K H∞STATE FEEDBACK CONTROL gain；D (k)=dsc(k)+dca(k), wherein dsc(k) the is indicated
One transmission delay, dca(k) the second transmission delay is indicated, w (k) is expressed as external disturbance signal.
4. the network stabilization control system according to claim 3 based on multistation cooperative motion, which is characterized in that described
H∞The calculating process of STATE FEEDBACK CONTROL gain K includes:
Construct liapunov function, the liapunov function are as follows:
V (k)=v1(k)+v2(k)+v3(k)+v4(k)
v1(k)=x (k)TP(d(k))x(k)
Stability analysis is carried out according to the liapunov function, solves the H∞The value of STATE FEEDBACK CONTROL gain K.
5. the network stabilization control system according to claim 4 based on multistation cooperative motion, which is characterized in that described
Network stabilization control system based on multistation cooperative motion further includes power Electricity Functional converting unit and current control loop, described
Power Electricity Functional converting unit for receive the driving signal and export current control instruction, the current control loop be used for according to
At least one target motor for generating current signal at least three target motor is instructed, according to the current control with control
Make the Position And Velocity of each target motor at least three target motor.
6. as claimed in claim 4 based on the network stabilization control system of multistation cooperative motion, which is characterized in that described logical
Communication network includes the first Postponement module and the second Postponement module, and first Postponement module drives in the positioner to electric current
First transmission delay is generated between the signal transmission path of dynamic device, second Postponement module is in the sensor described in
Second transmission delay is generated between the signal transmission path of positioner.
7. as claimed in claim 4 based on the network stabilization control system of multistation cooperative motion, which is characterized in that the biography
Sensor is linear encoder.
8. as claimed in claim 5 based on the network stabilization control system of multistation cooperative motion, which is characterized in that the mesh
The quantity for marking motor is three, and including a main motor and two from motor, the main motor is used for three target motors
Receive the current signal.
9. a kind of positioner, which is characterized in that including processor, input equipment, output equipment and memory, the processing
Device, input equipment, output equipment and memory are connected with each other, wherein for storing program, described program includes the memory
Program instruction, the processor are configured for calling described program instruction, execute such as the described in any item sides of claim 1-2
Method.
10. a kind of computer readable storage medium, which is characterized in that the computer storage medium is stored with program, the journey
Sequence includes program instruction, and described program instruction executes the processor such as any one of right 1-2 institute
The method stated.
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