Robust stability analysis of a remotely operated servo-motor

Author

Ortiz-Moctezuma, M.B. ; Moreno-Guerrero, A.A. ; Jimenez, M.

Author_Institution

Mechatron. Dept., Polytech. Univ. of Victoria, Ciudad Victoria, Mexico

fYear

2014

fDate

16-19 June 2014

Firstpage

1377

Lastpage

1382

Abstract

The teleoperation of a servomechanism by means of a local area network is presented. A master-slave configuration is developed, where the DC Motor with inertial load functions as the slave and a control terminal connected through a local network is the master. Signal transmission between the master and the remote (slave) terminals was made over an UDP internet protocol. The UDP/IP-communication introduces time delays in the control loop. Vertex type stability results are applied to analyze the closed loop stability of the system under proportional control, and the stabilization of the plant is tested from the simulation. The k_p gain calculated for the stabilization of the plant was tested in a simulated Matlab/Simulink environment. Experimental results were obtained and compared to the analytical ones.

Keywords

Internet; control engineering computing; local area networks; protocols; servomechanisms; stability; telerobotics; DC Motor; The UDP-IP-communication; UDP Internet protocol; closed loop stability; control loop; inertial load functions; local area network; master-slave configuration; remotely operated servo-motor; robust stability analysis; servomechanism teleoperation; vertex type stability; Closed loop systems; DC motors; Delay effects; Delays; Polynomials; Tin; Transfer functions;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Automation (MED), 2014 22nd Mediterranean Conference of

Conference_Location

Palermo

Print_ISBN

978-1-4799-5900-6

Type

conf

DOI

10.1109/MED.2014.6961568

Filename

6961568