论文标题
使用网络预测控制对通用机器人控制系统的性能分析
Performance Analysis of Universal Robot Control System Using Networked Predictive Control
论文作者
论文摘要
网络控制系统是反馈控制系统，具有通过通信网络连接的不同位置分布的系统组件。由于通信网络是通过Internet执行的，并且存在带宽和数据包大小的限制，因此会出现网络限制。其中一些约束是时间延迟和数据包损失。这些网络限制会降低性能，甚至破坏系统的稳定。为了克服这些通信限制的不利影响，已经开发出各种方法，其中一种代表性是网络预测控制。这种方法提出了一个控制器，该控制器会积极补偿网络时间延迟和数据包损耗。本文旨在实施网络预测控制系统，以通过计算机网络控制机器人组。网络延迟由预测变量解释，而使用冗余控制数据包可以减少数据包损耗的潜力。尽管延迟很大，并且数据包损失相当大，结果将显示系统的稳定性。此外，将提出对先前网络预测控制系统的改进，并显示性能的提高。最后，将研究不同系统和环境参数对控制循环的影响。
Networked control systems are feedback control systems with system components distributed at different locations connected through a communication network. Since the communication network is carried out through the internet and there are bandwidth and packet size limitations, network constraints appear. Some of these constraints are time delay and packet loss. These network limitations can degrade the performance and even destabilize the system. To overcome the adverse effect of these communication constraints, various approaches have been developed, among which a representative one is networked predictive control. This approach proposes a controller, which compensates for the network time delay and packet loss actively. This paper aims at implementing a networked predictive control system for controlling a robot arm through a computer network. The network delay is accounted for by a predictor, while the potential of packet loss is mitigated using redundant control packets. The results will show the stability of the system despite a high delay and a considerable packet loss. Additionally, improvements to previous networked predictive control systems will be suggested and an increase in performance can be shown. Lastly, the effects of different system and environment parameters on the control loop will be investigated.
