Development of a decentralized multi-axis synchronous control approach for real-time networks.
The message scheduling and the network-induced delays of real-time networks, together with the different inertias and disturbances in different axes, make the synchronous control of the real-time network-based systems quite challenging. To address this challenge, a decentralized multi-axis synchronous control approach is developed in this paper. Due to the limitations of message scheduling and network bandwidth, error of the position synchronization is firstly defined in the proposed control approach as a subset of preceding-axis pairs. Then, a motion message estimator is designed to reduce the effect of network delays. It is proven that position and synchronization errors asymptotically converge to zero in the proposed controller with the delay compensation. Finally, simulation and experimental results show that the developed control approach can achieve the good position synchronization performance for the multi-axis motion over the real-time network.
School of Mechanical Engineering, Shanghai Institute of Technology, Shanghai 201418, China. Electronic address: xuxiong19850707@163.com.
Xiong
X
Xu
State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China.
Guo-Ying
GY
Gu
State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China.
Zhenhua
Z
Xiong
State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China.
Xinjun
X
Sheng
State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China.
Xiangyang
X
Zhu
Cross-coupled control; Decentralized control; Multi-axis motion; Networked control system; Position synchronization; Real-time network