Secure Observer-based Motion Control based on Controller Encryption
Secure Observer-based Motion Control based on Controller Encryption
复制标题
基于控制器加密的安全观察者运动控制
DOI：
10.23919/acc.2019.8814398
复制
发表时间：
2019
期刊：
影响因子：
--
通讯作者：
K. Kogiso
中科院分区：
文献类型：
--
作者：
K. Teranishi;M. Kusaka;Naoki Shimada;J. Ueda;K. Kogiso
基于扰动消除器的运动控制作为力控制和不确定性补偿的有效方案之一，在机械手、伺服系统等工业系统中得到了广泛的应用。尽管在文献中报道了其有效性，但与信息设备相比，适用于工业设备和运动控制系统的安全措施尚未建立。缺乏网络安全措施可能会导致未来发生重大事件。本研究提出了一种方法，以提高网络安全的积分型伺服控制器与全阶状态观测器，或干扰观测器，基于控制器加密的工业运动控制系统。通过进给实验台的位置伺服控制实验，验证了控制器加密方法的可行性。通过改变用于加密的密钥的大小来检查对实时控制的计算延迟的影响。所提出的加密控制系统的性能下降为毫米量级，因此控制器加密方法可以作为运动控制系统的安全措施。
Disturbance observer-based motion control, one of effective schemes for force control and uncertainty compensation has been widely used in industrial systems such as manipulators and servo systems. Despite its effectiveness reported in the literature, security measures applicable to industrial equipment and motion control systems have not yet been established in comparison to those to information equipment. A lack of cybersecurity measures may result in critical incidents in the future. This study proposes a method to enhance the cybersecurity of an integral-type servo controller with a full-order state observer, or disturbance observer, for an industrial motion control system based on controller encryption. Feasibility of the controller encryption method was confirmed through position servo control experiments with a feed drive testbed. Influences on computational latency for real-time control were examined by varying the size of the key used for encryption. Performance degradation of the proposed encrypted control systems was millimeter order, and thus the controller encryption method can be applied as a security measure in motion control systems.