Title :
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
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 kp 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;
Conference_Titel :
Control and Automation (MED), 2014 22nd Mediterranean Conference of
Conference_Location :
Palermo
Print_ISBN :
978-1-4799-5900-6
DOI :
10.1109/MED.2014.6961568
