关键词: 远程控制, 鲁棒控制, 时延, 传输控制协议, 网络化制造, 电液位置伺服控制

Abstract: To meet the needs of teleoperation and management of automation industry equipments based on Internet for networked manufacturing enterprises, a teleoperation system model and its architecture were put forward, and operation principles of the system were discussed in detail. Transfer Control Protocol(TCP) was adopted to transmit the control/feedback information of system after characteristics comparison between TCP and User Datagram Protocol(UDP). In view of uncertain timer-varying transmission time delay, the Ｈ∞ controller was designed by using modern robust control theory to enhance robustness of tracking performance of given electro-hydraulic position servo teleoperation system. Simulation showed that the Ｈ∞ controller was effective both in keeping the system stable as expected and reducing the impact of time delay in the system.

Key words: teleoperation, robust control, delay, transfer control protocol, networked manufacturing, electro-hydraulic position servo control