Telecontrol Laboratory for Training Postgraduate Students Online Based on Internet Technology

摘要

A telecontrol laboratory for controlling a nonlinear robot arm online through the Internet is presented. The implementation of the scheme encompasses three major steps. The first step is to set up an approximately linear model after analyzing the experimental data of motor tests. The robot arm is controlled with a newly proposed generalized minimum variance self-adapted control (GMVSC) algorithm in the second step. In the third step, a client Web site with indicated IP address is developed to allow robot arm control with a correct login process. The experiments demonstrate that the robot arm is modeled and telecontrolled online with different weight parameter settings in GMVSC. And more benefit, with the GMVSC, the control value and the model of robot arm will be self adapted, adjusted, and identified. It is viewed in the second square of input pulse clearly, the same responsibility in output is obtained in the control system. This work results in a useful platform for researchers to carry out cooperative studies and facilitates the educational activities through the Internet.