Equivalent-Input-Disturbance-Based High-Precision Networked Motion-Control System

摘要

This paper deals with the problem of high-precision networked motion control with short time-varying delays and externalrndisturbances. First, a general-purpose Ethernet-based networked motion-control system (ENMCS) is fabricated. And thernuncertainties caused by network-induced delays are modeled as bounded disturbance. Then, the equivalent-input-disturbancern(EID) approach is used to reject an overall disturbance of the ENMCS containing the one caused by the delays. An estimate of therndisturbance is produced and added on the control input channel. It improves the tracking performance of the ENMCS. Simulationrnresults verify the effectiveness of the method.