Development and Control of Networked Servo System

By: Bhuyan, SrinibasContributor(s): Subudhi, Bidyadhar [Supervisor] | Ghosh, Sandip [Supervisor] | Departmental Electrical EngineeringMaterial type: TextTextLanguage: English Publisher: 2011Description: 100 pSubject(s): Engineering and Technology | Electrical Engineering | Power NetworksOnline resources: Click here to access online Dissertation note: Thesis (M.Tech (R))- National Institute of Technology, Rourkela Summary: Control systems where the control loops are closed through a communication network are called Networked Control System (NCS). Research on NCS has received increased attention in recent years due to the advancement of control, computation and communication technologies. NCS makes the design and implementation of control systems with reduced complexity due to simpler installation and easy maintenance. But the insertion of the communication network in the feedback control loop introduces delay from sensor to controller and controller to actuator, that degrades the control system performance and also causes system instability. This thesis focuses on development of a networked DC Servo control sys- tem using LabVIEW and Peripheral Component Interconnect (PCI) card. The controller design for a NCS can be categorized into indirect and di- rect approach. An indirect approach controller design considers first without delay followed by design a suitable delay compensation technique. A PID controller with a Smith predictor as a compensater is implemented in real- time networked control of servo system. The above PID controller is tuned using gain margin and phase margin specifications and Zigler-Nichols method are implemented. A direct NCS design approach in the other hand consid- ers the delay as well as packet loss characteristics with system dynamics at one go.This approach gives more information about each instant of the sys- tem.It uses Lyapunov approach to design of asymptomatic stabilization of the system, the above stabilization uses a switched approach for NCS sta- vi bilization with packet loss and delay is proposed. The switched approach divides the NCS as different subsystems considering both delay and packet loss, then designing of controllers for each subsystem. According to packet loss, the subsystems and controllers are switched to stabilize the NCS. In this approach the feedback gains are calculated by solving Linear Matrix Inequalities (LMIs). Both direct and indirect controller design approach are simulated using MATLAB and SIMULINK. Some Hardware in Loop simulations are also performed on a Servo System. A real-time networked servo control system has been developed using LabVIEW. Only indirect controller approach is implemented in this environment to remotely control the servo system. The results obtained by using PID controller and Smith predictor have been an- alyzed and it is confirmed that these controller provide good performances.
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Thesis (M.Tech (R))- National Institute of Technology, Rourkela

Control systems where the control loops are closed through a communication
network are called Networked Control System (NCS). Research on NCS has
received increased attention in recent years due to the advancement of control,
computation and communication technologies. NCS makes the design and
implementation of control systems with reduced complexity due to simpler
installation and easy maintenance. But the insertion of the communication
network in the feedback control loop introduces delay from sensor to controller
and controller to actuator, that degrades the control system performance and
also causes system instability.
This thesis focuses on development of a networked DC Servo control sys-
tem using LabVIEW and Peripheral Component Interconnect (PCI) card.
The controller design for a NCS can be categorized into indirect and di-
rect approach. An indirect approach controller design considers first without
delay followed by design a suitable delay compensation technique. A PID
controller with a Smith predictor as a compensater is implemented in real-
time networked control of servo system. The above PID controller is tuned
using gain margin and phase margin specifications and Zigler-Nichols method
are implemented. A direct NCS design approach in the other hand consid-
ers the delay as well as packet loss characteristics with system dynamics at
one go.This approach gives more information about each instant of the sys-
tem.It uses Lyapunov approach to design of asymptomatic stabilization of
the system, the above stabilization uses a switched approach for NCS sta-
vi
bilization with packet loss and delay is proposed. The switched approach
divides the NCS as different subsystems considering both delay and packet
loss, then designing of controllers for each subsystem. According to packet
loss, the subsystems and controllers are switched to stabilize the NCS. In
this approach the feedback gains are calculated by solving Linear Matrix
Inequalities (LMIs).
Both direct and indirect controller design approach are simulated using
MATLAB and SIMULINK. Some Hardware in Loop simulations are also
performed on a Servo System. A real-time networked servo control system
has been developed using LabVIEW. Only indirect controller approach is
implemented in this environment to remotely control the servo system. The
results obtained by using PID controller and Smith predictor have been an-
alyzed and it is confirmed that these controller provide good performances.

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