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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Samaranayake, L. Leksell, M. Alahakoon, S. |
| Copyright Year | 2003 |
| Description | Author affiliation: Dept. of Electr. Eng., R. Inst. of Technol., Stockholm, Sweden (Samaranayake, L.; Leksell, M.) |
| Abstract | Physical distribution of modules of a closed loop control system, i.e., sensor, controller and actuator over a communication network, is the state of the art in the modern motion control industry. The gains are to reduce system wiring, ease of fault diagnosis, maintenance etc. Inserting a communication network to connect the sensor to controller and controller to actuator, makes the analysis and controller design complicated. Because the ideal centralized assumptions such as synchronized sensor and/or controller signal availability, non-delayed sensing and actuation are no longer valid. The network induced delays in communicating through a shared medium like standard Ethernet are hardly ever constant. The time varying non-deterministic nature of the delays, depending on their magnitudes compared to the time constants, can destabilize or at least degrade a system whose non-networked closed loop version is highly stable and well performing. This paper addresses the network induced delay problem by using time-stamps of the data packets in real-time computation of a full-state feedback controller. Performance of the method is verified using a test rig comprising a Brushless DC motor, whose speed control loop is closed via a standard Ethernet network. Further, the experimental results of the suggested method are compared with the performance of standard controller designs for systems with time delays. |
| Sponsorship | IEEE Control Syst. Soc |
| Starting Page | 140 |
| Ending Page | 145 |
| File Size | 392443 |
| Page Count | 6 |
| File Format | |
| ISBN | 0780378911 |
| ISSN | 21589860 |
| DOI | 10.1109/ISIC.2003.1253928 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2003-10-08 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | State feedback Distributed control Control systems Delay effects Communication system control Motion control Actuators Integrated circuit interconnections Communication switching Electronic mail |
| Content Type | Text |
| Resource Type | Article |
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