Method for compensating uncertain network delay of forward passage of network cascade control system
A technology of cascade control and network delay, applied in the field of network control system, can solve the problems of system failure, large economic investment, system instability and so on
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[0094] The following will be attached by reference image 3 Exemplary embodiments of the present invention are described in detail, so that those of ordinary skill in the art more clearly the above and other features and advantages of the present invention.
[0095] The specific implementation steps are as follows:
[0096] The first step: the main transmitter (controller) node working in the time-driven mode is opposite to the main controlled object G 1 (s) output signal Y 1 (s) and its estimation model G 1m (s) output signal y 1m (s) Periodic sampling (sampling period is h 1 ), and Y 1 (s) and y 1m (s) Implement the subtraction operation to obtain the model deviation signal w 1 (s);
[0097] Step 2: Working in the time-driven mode of the secondary transmitter (controller) node to the secondary controlled object G 2 (s) output signal Y 2 (s) Periodic sampling (sampling period is h 2 );
[0098] The third step: the main transmitter (control) node according to the system given signal R(...
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