Scheduling and control co-design of networked induction motor control systems

This paper investigates the co-design of remote speed control and network scheduling for motion coordination of multiple induction motors through a shared communication network. An integrated feedback scheduling algorithm is designed to allocate the optimal sampling period and priority to each control loop to optimize the global performance of a networked control system (NCS), while satisfying the constraints of stability and schedulability. The rational gain of the network speed controllers is calculated using the Lyapunov theorem and online tuned by fuzzy logic to guarantee the robustness against complicated variations on the communication network. Furthermore, a state predictor is designed to compensate the time delay occurred in data transmission from the sensor to the controller, as a part of the networked controller. Simulation results are given to illustrate the effectiveness of the proposed control-and-scheduling co-design approach.

[1]  Il Hong Suh,et al.  Robust synchronizing motion control of twin-servo systems based on network modeling , 2000, Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187).

[2]  Mo-Yuen Chow,et al.  EDA-Based Speed Control of a Networked DC Motor System With Time Delays and Packet Losses , 2009, IEEE Transactions on Industrial Electronics.

[3]  Doo Yong Lee,et al.  Gain-Scheduling Control of Teleoperation Systems Interacting With Soft Tissues , 2013, IEEE Transactions on Industrial Electronics.

[4]  Nathan van de Wouw,et al.  Stability Analysis of Networked Control Systems Using a Switched Linear Systems Approach , 2009, IEEE Transactions on Automatic Control.

[5]  Sandra Hirche,et al.  Cloud-Based Networked Visual Servo Control , 2013, IEEE Transactions on Industrial Electronics.

[6]  Hui Zhang,et al.  H∞ Step Tracking Control for Networked Discrete-Time Nonlinear Systems With Integral and Predictive Actions , 2013, IEEE Transactions on Industrial Informatics.

[7]  Bimal K. Bose,et al.  Modern Power Electronics and AC Drives , 2001 .

[8]  E. Yaz.  Linear Matrix Inequalities In System And Control Theory , 1998, Proceedings of the IEEE.

[9]  Vadim I. Utkin,et al.  Sliding mode observers for electric machines-an overview , 2002, IEEE 2002 28th Annual Conference of the Industrial Electronics Society. IECON 02.

[10]  Young Soo Moon,et al.  A delay-dependent robust stability criterion for uncertain time-delay systems , 1998, Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207).

[11]  Shuzhi Sam Ge,et al.  Scheduling-and-Control Codesign for a Collection of Networked Control Systems With Uncertain Delays , 2010, IEEE Transactions on Control Systems Technology.

[12]  Aníbal Ollero,et al.  Reconfigurable Control Architecture for Distributed Systems in the HERO Autonomous Helicopter , 2011, IEEE Transactions on Industrial Electronics.

[13]  James W. Layland,et al.  Scheduling Algorithms for Multiprogramming in a Hard-Real-Time Environment , 1989, JACM.

[14]  Stephen P. Boyd,et al.  Linear Matrix Inequalities in Systems and Control Theory , 1994 .