Networked Controlled Brushless Servomotor Drive

摘要

This article aims at drive design for a brushless servomotor running in the condition of a networked control system. The proposed methodology employs existing non-networked based controllers and modifying the command with respect to current network traffic conditions which induce delays and the data dropouts. A middleware is implemented and modifies the output of the controller based on gain scheduling tuned by using an artificial neural network to overcome the relative problems. The search of the gain is transformed into an optimization problem of a defined cost function and its solution is given by a genetic algorithm to prevent the local minima. As a result, a user datagram protocol/IP channel suffering with random delays and data drops, for the communication between the controller and the servomotor is considered. Finally, the experiments conducted using a TMS320F2812 (Texas Instruments Inc., USA) digital signal processor based drive demonstrate the validation, performance and advantages of the proposed method.