Network delay compensation method between transmitter node and (control) actuator node

A technology of network delay and compensation method, which is applied in the interdisciplinary field of multiple disciplines, can solve problems such as errors in network delay estimation or identification, reduce the impact of delay system stability, large economic investment, etc., to improve control quality, The effect of avoiding node clock signal synchronization and avoiding estimation errors

Inactive Publication Date: 2011-03-30
HAINAN UNIVERSITY
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Problems solved by technology

[0008] Since there is an exponential term e of the network delay τ in the denominator of the closed-loop transfer function shown in equation (1) -τs , the existence of time delay will deteriorate the control performance quality of the system, and even cause the system to lose stability, and in severe cases, the system may fail.
[0009] The key to reducing the impact of delay on system stability is whether the exponential term e of the network delay τ between the transmitter node and the (control) actuator node can be realized -τs It is removed from the denominator of equation (1), that is, the exponential term of the network delay is not included in the closed-loop characteristic equation, and then the compensation for the network delay is realized. However, to realize the compensation for the network delay, we must first know The size of the network delay. At present, the method usually used at home and abroad is to compensate the influence of the delay on the system stability by...

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  • Network delay compensation method between transmitter node and (control) actuator node
  • Network delay compensation method between transmitter node and (control) actuator node
  • Network delay compensation method between transmitter node and (control) actuator node

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[0069] The following will refer to the attached image 3 Exemplary embodiments of the present invention are described in detail to make the above and other features and advantages of the present invention more apparent to those skilled in the art.

[0070] The specific implementation steps are as follows:

[0071] The first step: the transmitter node working in the time-driven mode outputs the output signal Y(s) of the controlled object G(s) and the output signal y of the controlled object prediction model Gm(s) gm (s) for periodic sampling; for Y(s) and y gm (s) Implement subtraction to obtain the model deviation signal w(s); transmit w(s) to the (control) actuator node through the feedback network path;

[0072] Step 2: The (control) actuator node working in the event-driven mode is triggered by the feedback network path signal w(s); the system given signal R(s) and w(s) and y m (s) Implement the subtraction operation to obtain the error signal e(s); implement the control...

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Abstract

The invention provides a network delay compensation method between a transmitter node and a (control) actuator node, and belongs to the technical field of network control systems. In the method, an actual network data transmission process between the transmitter node and the (control) actuator node is used for substituting a network delay compensation model of the process, so that measurement and estimation or identification of network data transmission delay between nodes and requirements on node clock signal synchronization are eliminated. By the method, the influence of delay on stability of a time system can be reduced and the control performance quality of the system can be improved. The method is suitable for delay dynamic compensation and control of a network control system in which a controlled object mathematic model is known, the network only exists between the transmitter node and the (control) actuator node and a certain number of data packets are lost in the network.

Description

technical field [0001] The invention relates to a network control system delay compensation method in which the network only exists between the transmitter node and the (control) actuator node, and belongs to the interdisciplinary field of network communication, computer technology and automatic control. Background technique [0002] A closed-loop feedback control system based on a real-time communication network is called a networked control system (Networked control systems, NCS), and a typical structural block diagram of a networked control system suitable for the present invention is as follows figure 1 shown. [0003] NCS can realize complex large-scale system and remote network control, realize network resource sharing, increase system flexibility and reliability, and also make system analysis and design extremely complicated. Due to limited network bandwidth and shared by each node of the system, When the transmitter node and the (control) actuator node exchange data...

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Application Information

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IPC IPC(8): G05B19/418H04L7/00
CPCY02P90/02
Inventor 杜锋陈褒丹杜育宽杜文才
Owner HAINAN UNIVERSITY
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